空间机器人操作技术研究现状与展望  

Research status and prospect of space robot operation technology

作　　者：丁希仑[1] 陈一同 王成才 徐坤[1] DING Xilun;CHEN Yitong;WANG Chengcai;XU Kun(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《航空学报》2025年第6期266-294,共29页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(52405003);北京市科技新星计划。

摘　　要：空间机器人是执行在轨服务、星球探测、星表采样以及地外设施建设等任务的核心利器。空间机器人操作技术,涵盖视觉感知、精细建模、规划控制、人机交互以及多机协作等多个环节,是保障空间机器人高效准确完成各类空间操作任务的关键。系统归纳了国内外典型空间机器人及其操作技术,从非结构环境下的视觉感知与定位、面向刚柔耦合系统的动力学建模、动态约束和有限资源下的规划与控制以及人机交互与多机协同操作4个层面分析了空间机器人操作过程中涉及的关键技术,并结合中国未来深空探测发展趋势和任务需求,阐述了空间机器人自主化智能化操作面临的关键挑战与发展方向。Space robots serve as indispensable tools for executing tasks such as on-orbit servicing,planetary exploration,sample retrieval,and the construction of extraterrestrial facilities.The operational technologies of space robots encompass multiple aspects,such as visual perception,precise modeling,planning and control,human-robot interaction,and multi-robot collaboration.These technologies are essential to ensure the efficient and accurate execution of diverse space operations.This paper systematically reviews representative space robots and their operation technologies world-wide.Key techniques involved in the operation of space robots are analyzed from four perspectives:visual perception and localization in unstructured environments,dynamic modeling of rigid-flexible coupled systems,planning and control under dynamic constraints and limited resources,and human-machine interaction and multi-agent collaborative operations.Furthermore,challenges and future directions for the autonomous and intelligent operation of space robots are discussed in the context of China’s evolving deep-space exploration strategies and mission requirements.

关 键 词：空间机器人 在轨操作 星表操作 视觉感知 动力学建模 规划控制 人机交互 多机协作 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]