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基于Ｌｕｈ等人针对地面机器人提出的Ｎｅｗｔｏｎ－Ｅｕｌｅｒ法建立了计算自由飞行空间机器人（ＦＦＳＲ）关节驱动力矩的递推算法；结合基于广义逆雅可比矩阵的分解运动速度控制法提出了一种捕捉目标的力矩控制算法；计算机仿真验证了算法的有效性．
Based on the Newton-Euler method proposed by Luh et al for ground robots, a recursive algorithm for calculating the joint driving torque of a free-flight space robot (FFSR) was established. Combining the decomposition velocity control method based on generalized inverse Jacobian matrix, Of torque control algorithm; computer simulation shows the effectiveness of the algorithm.