刊庆专刊+面向在轨捕获的空间机器人规划与控制技术研究综述

A Review on Planning and Control of Space Manipulator for On-orbit Capture

  • 摘要: 随着航天技术的快速发展,空间机器人已成为在轨捕获的基本工具,在空间探索中发挥着重要作用。空间机器人的固有动力学特性及其工作环境的复杂性为其路径规划和跟踪控制带来了巨大的挑战。为此,本文首先列举了世界主要航天国家在空间机器人领域的工程应用现状。介绍了空间机器人基于广义雅可比矩阵(Generalized Jacobian Matrix, GJM)的运动学模型和基于拉格朗日法的动力学模型。在此基础上,对空间机器人路径规划和跟踪控制的最新研究进展进行了归纳,并介绍了地面微重力模拟试验的研究成果。最后,总结了目前空间机器人技术中存在的问题,并展望了未来的研究方向。

     

    Abstract: With the rapid development of space technology, space manipulators have progressively found applications in the field of on-orbit services, such as debris removal, malfunction satellite capturing and repairing. During on-orbit services, the space manipulators are required to track a pre-planned trajectory and then execute the capture operation. The dynamic properties of space manipulators, such as dynamic singularity and the coupling between the base and manipulator, make their path planning methods different from those of fixed base manipulators. To guarantee the successful implementation of the capture operation, factors such as base disturbance minimization, obstacle avoidance, velocity constraints and other criteria should also be considered during path planning. Afterwards, an appropriate tracking control strategy should be developed to drive the end-effector to the capture point. The relative motion between space manipulators and captured targets limits the time available for performing the capture operation, so the space manipulators should reach the capture point promptly. Working in the complex space environment, space manipulators inevitably encounter unknown external disturbances and parametric uncertainties, which can affect the control accuracy. Thus, the proposed control strategy should not only ensure the stability of the system, but also maintain high precision, fast convergence and strong robustness. Before launching into space, the space manipulator systems require thorough verifications on the ground to test their performance. The design of the ground verifications should accurately reflect real space motion, with a key focus on simulating the microgravity environment in the space. To address these technical challenges, this paper reviews recently progress in path planning, tracking control and ground verification technologies for space manipulators in on-orbit capture. Subsequently, existing drawbacks and future developments of space manipulators are discussed.

     

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