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首先讨论了空间机械手的运动特点及其各自由工作空间的划分。在此基础上，研究了空间机械手捕捉静态和运动目标的运动控制问题，提出了在各种情况下的运动控制策略，并通过计算机仿真进行了验证。所提出的运动控制策略充分利用了空间机械手的非完整冗余性，使空间机械手能在最大可达空间内进行捕捉目标操作。
Firstly, the movement characteristics of space robot and the division of each free workspace are discussed. On the basis of this, we study the motion control problem of space manipulator in capturing static and moving targets, and put forward the motion control strategy in various situations, and verify it by computer simulation. The proposed motion control strategy takes full advantage of the non-complete redundancy of the space manipulator so that the space manipulator can capture the target operation within the maximum space.