摘要
考虑到空间机械臂在执行在轨维修、在轨组装、在轨加注等复杂危险的空间任务时,其精准、灵巧的操控技术的重要性,从不同类型空间机械臂构形、末端执行器出发,分析了空间机械臂的发展趋势。综述了空间机械臂操控过程中涉及的5项关键技术,包括:交会对接与捕获技术、自主规划与智能控制技术、传感与感知技术、智能协同与操控技术及系统安全保障技术。最后,就现有的空间机械臂在操控过程中面临的问题,提出未来的发展方向及展望。
Considering the importance of precise and dexterous control technology of space manipulator when performing complex and dangerous space tasks such as on-orbit maintenance,on-orbit assembly and on-orbit refueling,this paper analyzes the development trends of space manipulator from different types of space manipulator configurations and end effectors.5 key technologies involved in the control process of space manipulators are summarized,including rendezvous,docking and capture,autonomous planning and intelligent control,sensing and perception,intelligent cooperation and control,and system security.Finally,the future development directions and prospect are put forward according to the problems existing in the control process of space manipulator.
作者
薛智慧
刘金国
XUE Zhihui;LIU Jinguo(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《机器人》
EI
CSCD
北大核心
2022年第1期107-128,共22页
Robot
基金
国家重点研发计划(2018YFB1304600)
国家自然科学基金(51775541)
中国科学院交叉创新团队(JCTD-2018-11)。
关键词
空间机械臂
末端执行器
在轨服务
在轨操作
人机交互
space manipulator
end effector
on-orbit servicing
on-orbit manipulation
human-robot interaction
