为了实现空间机械臂关节失效后容错操作，提出了空间机械臂末端力/位容错过程中关节参数突变抑制方法。基于机械臂关节空间和操作空间的力/速度映射关系，分析空间机械臂末端力/位容错条件，建立机械臂末端容错运动学和动力学方程;进而将运动学可操作度和动力学可操作度分别引入机械臂容错运动学和动力学方程，在此基础上建立机械臂末端力/位容错过程中的关节参数突变抑制优化函数，并利用粒子群算法实现对优化函数的求解。仿真结果表明，该算法能够在实现空间机械臂末端力/位容错的同时有效抑制关节速度和力矩突变。

In order to achieve fault-tolerant operation of space manipulator after joint failure,a method to reduce the joint parameters jump during the operation of the force/position fault-tolerant at the end-effector is proposed. Based on the relationship of velocity/force between joint space and the Cartesian space,the conditions of force/position fault-tolerant at the end-effector are analysed,and the kinematics and dynamics equations of fault-tolerant in Cartesian space are established. Then the kinematics manipulability and dynamics manipulability are introduced into the equations respectively,on the base of which the optimization functions of joint parameters jump reduction are constructed,and the algorithm particle swarm optimization (PSO) is applied to solve the optimization function. As the simulations expected,the method can achieve force and velocity jumps reduction efficiently in joint space during the operation of the force/position fault-tolerant in the Cartesian space.