空间机器人微重力模拟实验系统研究综述

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徐文福, 梁斌, 李成, 刘宇, 强文义. 空间机器人微重力模拟实验系统研究综述[J]. 机器人, 2009, 31(1): 88-96.. XU Wen-fu, LIANG Bin, LI Cheng, LIU Yu, QIANG Wen-yi. A Review on Simulated Micro-Gravity Experiment Systems of Space Robot. ROBOT, 2009, 31(1): 88-96..

摘要介绍了微重力模拟实验系统的特点，归纳了研究中的关键问题．总结了主要实现方法，包括：基于自由落体运动、基于抛物线飞行、气浮式、水浮式、吊丝配重式实验系统，以及硬件在环内（hardware in loop）的混合地面实验系统．讨论、比较了各种实验系统的应用背景及优缺点；在此基础上，提出了动力学模拟与运动学等效的两种思想，并建立了实验系统，以对路径规划、控制等关键算法进行评估和验证．

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关键词 ：空间机器人, 微重力, 重力补偿, 实验系统, 在轨服务

Abstract：The characteristics of the simulated micro-gravity experiment system (SMGES) are introduced and the key problems are summarized.Six main realization methods for SMGES are introduced,including the experiment systems based on free falling objects,parabolic flight,air-bearing table,neutral buoyancy,suspension system and hardware-in-loop (HIL) simulator.The application scopes,advantages and disadvantages of each method are discussed and compared.Then we propose two realization concepts based on dynamic emulation and kinematic equivalence,and set up an experiment system to test and evaluate the key algorithms for path planning and control of space robot.

Key words： space robot micro gravity gravity compensation experiment system on-orbit servicing

收稿日期: 2008-05-22

TP24

基金资助:国家自然科学基金资助项目（60805033，60775049）

作者简介: 徐文福（1979- ），男，讲师．研究领域：空间机器人，视觉伺服控制．
梁斌（9186- ），男，博士，教授，博士生导师．研究领域：机器人学，空间机器人．
李成（1972- ），男，博士，教授．研究领域：机器人学，自动控制理论．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I1/88

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