关键词: 宏微机械臂, 柔性基座, 运动控制, 振动抑制, 操作策略

Abstract: A single manipulator can hardly meet the growing demand for space missions.In order to improve the comprehensive performance of the manipulator system，such as rapid response，high precision and large load，several countries begin to develop macro-micro manipulator systems.The development status of macro-micro manipulators on the International Space Station and Chinese Space Station was reviewed，and the motion control methods were summarized from separated time independent control mode and coordinate control mode.When the macro-micro manipulator adopts the mode of time-separating and independent control，it can be equivalent to a flexible base manipulator system.The control algorithms of flexible structure mounted manipulator systems were researched from the perspectives of optimal reaction control，active damping control and end-point trajectory tracking control.The research provides reference for on-orbit operation of China′s space manipulator.Finally，the future research prospect of dynamic modeling and motion control of space macromicro manipulator were looked into.

Key words: macro/micro manipulator, flexible base, motion control, vibration suppression, operation strategy