空间机器人遥操作关键技术综述与展望  

Overview and Prospect of Key Technologies of Teleoperation of Space Robot

作　　者：张涛[1] 陈章[1] 王学谦[2] 梁斌[1] 

机构地区：[1]清华大学自动化系,北京100084 [2]清华大学深圳研究生院,深圳518055

出　　处：《空间控制技术与应用》2014年第6期1-9,30,共10页Aerospace Control and Application

基　　金：国家高技术研究发展计划(863)资助项目(2014AA7XX7020)

摘　　要：空间机器人的遥操作是空间机器人操作过程的重要组成部分.对遥操作的基本概念和空间机器人遥操作的基本特性作了初步分析,介绍了空间机器人遥操作的现状以及国际上一些典型的在轨遥操作任务,对各个任务的技术特点进行了总结,归纳了遥操作技术的关键技术,对图形预测仿真遥操作、力反馈双边控制以及地面验证等关键技术的研究现状进行了介绍.最后,对空间机器人遥操作的发展趋势进行了展望.The teleoperation of space robot is one of important parts of the operation process of space ro- bot. The concept of the teleoperation and the basic features of the teleoperation of space robot are first an- alyzed. The current situation of the teleoperation of space robot and some typical experiments of the teleo- peration are then introduced in detail, based on which the technical characteristics of the tasks are summed up. Finally, the key technologies of the teleoperation are summarized, and the research situa- tions of predictive-display-based teleoperation, force-reflecting bilateral control and ground verification system are introduced. In conclusion, the prospect of the teleoperation of space robot is presented.

关 键 词：空间机器人 在轨服务 遥操作 

分 类 号：V448.132[航空宇航科学与技术—飞行器设计]