In this paper, the kinematics and dynamics of a free-floating space robot system with prismatic joint are analyzed, and it is shown that the Jacobian matrix and the dynamic equations of the system cannot be linearly parameterized. With the augmentation approach, we demonstrate that the augmented generalized Jacobi matrix and the dynamic equation of the system can be linearly dependent on inertial parameters. Based on the results, the composite adaptive control scheme for a free-floating space robot with unknown inertial parameters to track the desired trajectory in workspace is proposed, and a two-link planar space robot system with prismatic joint is simulated to verify the proposed control scheme.

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