The coordinate frames of the manipulator (IMAGE) Beijing Institute of Technology Press Co., Ltd Caption In the research, the simulation results of our recursive composite adaptive control algorithm are presented in comparison with the direct adaptive control algorithm. The coordinate frames of the manipulator of the Chinese Space Station are plotted in the Figure . Credit Space: Science & Technology Usage Restrictions News organizations may use or redistribute this image, with proper attribution, as part of news coverage of this paper only. License Original content Disclaimer: AAAS and EurekAlert! are not responsible for the accuracy of news releases posted to EurekAlert! by contributing institutions or for the use of any information through the EurekAlert system.