The inverse kinematics of a space-based manipulator composed of three rigid bodies with prismatic joint are studied in the second chapter, and the Jacobean matrix for space manipulator is derived by fully Cartesian coordinates.

• 本文主要在如下几个方面做了一些研究工作：在第二章中，首先，简要介绍了空间机器人的运动学和动力学性质，然后，基于完全笛卡尔坐标方法讨论了漂浮基带滑移铰空间机械臂的逆运动学问题。