空间机器人捕获动力学与控制

Capturing Dynamics and Control of Space Robots

空间目标的在轨捕获是航天器在轨服务的重要内容,无论是太空碎片清理还是对航天器进行维修等,都首先需要解决捕获这个极具挑战性的问题.本文对空间机器人捕获空间目标的动力学与控制问题进行综述,首先介绍国内外主要的空间机器人计划,然后介绍捕获前、捕获中、捕获后三个阶段的动力学与控制问题,寄望于本文内容能够对从事空间机器人技术研究的学者有所裨益.

In-orbit capture of space objects is a crucial aspect of spacecraft servicing,whether it involves space debris removal or spacecraft maintenance.The challenging task of capturing objects in space is the primary focus of this article.This paper provides a comprehensive review of the dynamics and control issues related to space robot capture.It begins by introducing major space robot programs both domestically and internationally.Subsequently,it delves into the dynamics and control problems during the pre-capture,mid-capture,and post-capture phases.It is hoped that the content of this article will be beneficial to scholars engaged in space robot technology research.