空间作业智能操控技术研究与展望  

Development and prospects of space intelligent operation

作　　者：张哲 刘传凯[2,3] 王明明 罗建军 武黎明[3,4] 陈诺 ZHANG Zhe;LIU ChuanKai;WANG MingMing;LUO JianJun;WU LiMing;CHEN Nuo(Lunar Exploration and Aerospace Engineering Center,Beijing 100190,China;Beijing Aerospace Control Center,Beijing 100094,China;Key Laboratory of Science and Technology on Aerospace Flight Dynamics,Beijing 100094,China;School of Astronautics,Northwest Polytechnical University,Xi’an 710072,China;School of Astronautics,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]探月与航天工程中心,北京100190 [2]北京航天飞行控制中心,北京100094 [3]航天飞行动力学技术重点实验室,北京100094 [4]西北工业大学航天学院,西安710072 [5]北京理工大学宇航学院,北京100081

出　　处：《中国科学：技术科学》2024年第2期289-303,共15页Scientia Sinica(Technologica)

基　　金：国家自然科学基金(批准号:61972020,61973256,62003025);航天飞行动力学技术重点实验室基金(编号:6142210200307)资助项目。

摘　　要：空间环境错综复杂,由航天员出舱完成各类空间任务难度较大.利用空间机器人操控技术,能够扩展航天员的操作能力,有效提高空间作业的自主化和智能化水平.本文介绍了空间作业操控的概念与内涵、国内外空间机器人操控技术应用与发展现状,分析了在轨服务、星表巡视和星表采样等三类场景下空间机器人操控技术的特点.在此基础上,对其中涉及的智能感知与信息融合、任务规划、预测仿真等前沿关键技术进行了总结,并结合未来空间探索的需求,研究提出了空间作业操控技术的智能化发展趋势.The space environment is intricate and complex;thus, it is difficult for astronauts to complete various space tasks out of the capsule.The use of space robotic manipulation technology can extend the operational capability of astronauts and effectively improve the levelof autonomy and intelligence of space operations. This study introduces the concept and connotation of space operation manipulationand the current situation of space robotic manipulation technology application and development at home and abroad and analyzes thecharacteristics of space robotic manipulation technology in three types of scenarios, namely, on-orbit service, star surface inspection,and star surface sampling. On this basis, the frontier key technologies involved in intelligent sensing and information fusion, missionplanning, prediction, and simulation are summarized, and the intelligent development trend of space operation manipulationtechnology is proposed in light of future space exploration needs.

关 键 词：空间操控 在轨服务 星表探测 人工智能 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]