Abstract：First, the velocity and acceleration for Free Flying Space Robots(FFSR) has been analyzed, and the recursive formula for calculating the velocity and acceleration of the links of FFSR have been established. Then, based on the Newton-Euler dynamics method for ground-fixed robots proposed by Luh et al, the recursive algorithm of joint driven torque for FFSR has been developed. Finally, the computer simulation verifies the effectiveness of the proposed joint torque algorithm.
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