A review of motion planning for redundant space manipulators  

作　　者：Ziqiang ZHANG Xiaoshuo LIU Meng NING Xiaohui LI Weihui LIU Ye LU 

机构地区：[1]College of Mechanical and Energy Engineering,Beijing University of Technology,Beijing,100124,China [2]School of Mechanical Engineering,Jiangnan University,Wuxi,214122,China [3]Beijing Key Laboratory of Long-life Technology of Precise Rotation and Transmission Mechanisms,Beijing Institute of Control Engineering,Beijing,100094,China [4]Department of Civil Engineering,Monash University,Melbourne,3800,Australia

出　　处：《Science China(Technological Sciences)》2025年第3期30-53,共24页中国科学(技术科学英文版)

基　　金：supported by the Beijing Natural Science Foundation for Distinguished Young Scholars(Grant No.JQ22007);National Natural Science Foundation of China(Grant No.52275001);the Project of Cultivation for Young Top-motch Talents of Beijing Municipal Institutions(Grant No.BPHR202203004)。

摘　　要：Redundant space manipulators(RSM)exhibit high flexibility and can assist astronauts in completing various onorbit service(OOS)tasks,which have been applied to the International Space Station(ISS)and China Space Station(CSS).Motion planning stands as a fundamental technology within RSM,guiding the manipulator to reach designated positions smoothly and execute operational tasks with optimal performance.Nevertheless,the intricate nature of the space environment presents challenges to the motion planning of RSM.In this paper,in response to issues such as maintenance difficulties after RSM failures,base floating caused by weightlessness,flexible deformation of structures due to large-scale operations,and multiple obstacles with uncertainty,fault-tolerant motion planning,motion planning considering base floating,motion planning under structural flexibility deformation,and obstacle avoidance motion planning are examined.At present,the increasingly complex OOS tasks have brought new challenges to the motion planning of RSM.These challenges encompass motion planning for new mechanism configurations,dynamic motion planning,multi-RSM and multi-task planning,the improvement of motion planning efficiency,and the efficient implementation and precise process monitoring of motion.With the advancement of motion planning technology,RSM is poised to play an increasingly significant role in ISS and CSS.

关 键 词：redundant space manipulator on-orbit service motion planning main challenges 

分 类 号：V44[航空宇航科学与技术—飞行器设计] TP241[自动化与计算机技术—检测技术与自动化装置]