摘要
随着空间探索的不断深入,人类从认识空间环境逐渐转向开发和利用空间资源,空间机械臂因其运动范围广、操作能力强等特点被广泛应用于空间探索活动。复杂的太空环境以及繁重的空间操控任务对空间机械臂的自主性与智能性提出了越来越高的要求。本文在概述空间机械臂的发展现状及其关键技术的基础上,对空间机械臂智能规划与控制技术展开综述,重点阐述国内外学者在空间机械臂任务规划、运动规划以及运动控制等方面中取得的研究成果,进而展望了后续空间机械臂规划与控制的发展方向。
With the deepening of space exploration,human beings have gradually changed from understanding the space environment to developing and utilizing space resources.Space manipulator is widely used in space exploration activities because of its wide range of motion and strong operation ability.The complex space environment and heavy space control tasks put forward higher and higher requirements for the autonomy and intelligence of space manipulator.Based on the overview of the development status and key technologies of space manipulator,this paper summarizes the intelligent planning and control technology of space manipulator,focuses on the research results of domestic and foreign scholars in task planning,trajectory planning and motion control of space manipulator,and then looks forward to the development direction of follow-up space manipulator planning and control.
作者
陈钢
高贤渊
赵治恺
黄泽远
符颖卓
费军廷
CHEN Gang;GAO Xianyuan;ZHAO Zhikai;HUANG Zeyuan;FU Yingzhuo;FEI Junting(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)
出处
《南京航空航天大学学报》
CAS
CSCD
北大核心
2022年第1期1-16,共16页
Journal of Nanjing University of Aeronautics & Astronautics
基金
国家自然科学基金(62173044,6210020588)
科工局稳定支持项目(HTKJ2019KL502012)。
关键词
空间机械臂
任务规划
运动规划
运动控制
space manipulator
task planning
motion planning
motion control
