面向接管控制的空间机器人操控技术综述  

Overview of Space Robot Manipulation Technology for Takeover Control

作　　者：刘习尧 常海涛[1,2] 黄攀峰[1,2] 韩冬[1,2] 鲁迎波[3] LIU Xiyao;CHANG Haitao;HUANG Panfeng;HAN Dong;LU Yingbo(National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi'an 710072,China;Research Center for Intelligent Robotics,School of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China;School of Electrical and Information Engineering,Zhengzhou University of Light Industry,Zhengzhou 450002,China)

机构地区：[1]西北工业大学航天飞行动力学技术重点实验室,陕西西安710072 [2]西北工业大学航天学院智能机器人研究中心,陕西西安710072 [3]郑州轻工业大学电气信息工程学院,河南郑州450002

出　　处：《机器人》2022年第1期90-106,共17页Robot

基　　金：国家自然科学基金(91848205,61725303)。

摘　　要：为了延长在轨故障卫星的寿命、移除重要轨道位置上的空间碎片或失效卫星,使用空间机器人对空间目标的姿态或/和轨道进行接管控制变得越来越重要。本文系统调研了各类可用于对空间目标进行接管控制的手段,并将其按照与目标接触方式的不同,分成了刚性接管控制、绳系柔性接管控制以及非接触式接管控制,对各种接管控制手段进行了详细的阐述。最后对这3类接管控制手段的具体原理、操作方式及关键技术进行了系统的总结和分析,概括了各自的特点以及优劣势,对相关领域的理论与实践研究进行了展望。In order to extend the life of a malfunctioning satellite in orbit,or remove space debris and failed satellites off from the important orbit locations,it is becoming increasingly important to use space robots to take over the control of attitude or/and orbit of space targets.In this paper,various kinds of control methods which can be used for space targets takeover control are systematically investigated.According to the different contact ways with the target,they are divided into rigid takeover control,tethered flexible takeover control and contactless takeover control.All kinds of control methods are described in detail.Finally,the specific principles,operation modes and key technologies of these three kinds of takeover control methods are systematically summarized and analyzed,their respective characteristics,advantages and disadvantages are summarized,and the theoretical and practical research in related fields is prospected.

关 键 词：空间机器人 空间目标 接管控制 空间系绳 非接触操控 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]