建立空间站是我国航天"三步走"战略的关键环节，站上拟安装的大型机械臂在太空对接及在轨任务的执行中发挥着重要作用。本课题以太空机械臂这一典型多柔体系统为研究对象，重点研究其精密操作控制策略。首先，针对传动关节低速运行时产生的高维级联非线性系统，基于动态曲面技术和自回归小波神经智能理论，研究"宏微式"定位策略的设计方法，解决全局级联和局部摩擦并存时的高精度定位问题；其次，针对大柔度臂杆的非同位振动特性，通过将多柔体动力学与微分几何理论相结合，探索非最小相位意义下的振动抑制策略，解决分布参数动力系统的稳定控制问题。项目的研究成果对于揭示多柔体系统的动力学本质及实现其精密稳定控制具有重要的理论指导意义和工程应用价值。

Building a space station is the key procedure of "three-step strategy for China's aerospace". The large-scale robotic arm, to be installed in the space station, play a crucial role in the implementation of docking and rail task. In this issue, the flexible multibody robotic arm and its precise operation control strategy is researched as the scientific subject. Firstly, high dimensional nonlinear cascade systems for transmission joint generated during low-speed operation，the design method of " macro-micro " positioning strategy is researched based on dynamic surface technique and self-recurrent wavelet neural intelligence theory. The problem of high precision positioning for global cascade and local friction coexisting is to be solved. Secondly, non-collocated vibration characteristics for large flexible arm is considered. The vibration suppression strategy under the non-minimum phase is to be explored based on the flexible multi-body dynamics and differential geometry theory. The problem of stability control for distributed parameter dynamical system is to be solved. The research findings, which will reveal the dynamics nature of flexible multibody system and achieve precise control, play an important part in theoretical guidance and engineering applications.