DARPA地球静止轨道机器人项目综述

doi:10.13973/j.cnki.robot.2016.0632

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闫海江, 范庆玲, 康志宇, 肖余之. DARPA地球静止轨道机器人项目综述[J]. 机器人, 2016, 38(5): 632-640.DOI: 10.13973/j.cnki.robot.2016.0632. YAN Haijiang, FAN Qingling, KANG Zhiyu, XIAO Yuzhi. Review of DARPA's Geostationary Earth Orbit Robotic Programs. ROBOT, 2016, 38(5): 632-640. DOI: 10.13973/j.cnki.robot.2016.0632.

摘要系统梳理了美国国防部高级研究计划局（DARPA）资助的地球静止轨道操控项目的发展历程．分析了空间操控涉及的空间机械臂设计、非合作目标探测识别与相对导航、安全逼近停靠、平台与机械臂协同控制、多臂协同精细作业柔顺控制、遥操作、地面仿真与试验等关键技术．最后给出了DARPA地球静止轨道操控项目的发展启示，并对我国地球静止轨道操控项目发展思路提出了建议．

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	闫海江
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关键词 ：地球静止轨道, 非合作目标, 空间操控, 空间机械臂

Abstract：The development process of Geostationary Earth Orbit robotic programs sponsored by Defense Advanced Research Program Agency (DARPA) is summarized. Then, the key technologies including space robotic arm design, detection, recognition and relative navigation of non-cooperative target, safety approaching and docking, coordinated control for robotic arm and spacecraft bus, compliant control for cooperatively delicate operation of multiple arms, space teleoperation, and ground simulation and test, are analyzed. Several enlightenments are presented, and some suggestions are brought forward in the end.

Key words： geostationary earth orbit non-cooperative target space operation space robotic arm

收稿日期: 2016-05-10 录用日期: 2016-08-08

V11

基金资助:国家自然科学基金（61573247）；上海市科学技术委员会资助项目（14XD1423400）

通讯作者: 闫海江，yhj_shanghai@126com E-mail: yhj_shanghai@126com

作者简介: 闫海江（1986-），男，硕士，工程师．研究领域：航天器总体设计及预先研究．

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0632 或 https://robot.sia.cn/CN/Y2016/V38/I5/632

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