空间机器人非合作航天器在轨服务研究进展

doi:10.3724/SP.J.1218.2012.00242

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引用本文:
梁斌, 杜晓东, 李成, 徐文福. 空间机器人非合作航天器在轨服务研究进展[J]. 机器人, 2012, 34(2): 242-256.DOI: 10.3724/SP.J.1218.2012.00242. LIANG Bin, DU Xiaodong, LI Cheng, XU Wenfu. Advances in Space Robot On-orbit Servicing for Non-cooperative Spacecraft. ROBOT, 2012, 34(2): 242-256. DOI: 10.3724/SP.J.1218.2012.00242.

摘要

随着空间机器人和交会对接等技术的不断成熟,在轨服务将成为各种航天器寿命延长、能力升级以及轨道垃圾清理的重要手段. 目前在轨的航天器、太空碎片等都是非合作目标,即没有安装用于测量的合作标志器和便于抓捕的手柄等,对此类非合作航天器的在轨服务已成为近年来研究的热点. 本文首先分析了空间机器人非合作航天器在轨服务的任务特点,介绍了其应用前景;然后对主要航天大国的发展现状进行了综述,归纳了非合作在轨服务的关键技术; 最后,对未来的发展趋势进行了展望.

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关键词 ：空间机器人, 在轨服务, 非合作目标, 交会对接

Abstract：

With the development of space robot and rendezvous & docking technologies, on-orbit servicing is expected to play an increasingly important role in spacecraft life-extension, capacity improvement and space debris removal. So far, the spacecrafts already existed in orbit and the space debris are generally non-cooperative, i.e. neither any artificial marks used for the measurement nor grappling fixtures applied to the capture are mounted on the target. Therefore, robotic on-orbit servicing for non-cooperative spacecrafts has been a hotspot of research in recent years. In this paper, firstly, the characteristics of the on-orbit servicing for non-cooperative spacecrafts are analyzed, and the possible applications of this technology are introduced. Secondly, the achievements of the main space powers are reviewed, and the key technologies of non-cooperative on-orbit servicing are summarized. Finally, the research prospects are presented.

Key words： space robot on-orbit servicing non-cooperative target rendezvous & docking

收稿日期: 2011-08-09 录用日期: 2012-02-17

TP24

基金资助:

国家自然科学基金资助项目(61175098)

通讯作者: 杜晓东,xddu@robotsat.com E-mail: xddu@robotsat.com

作者简介: 梁斌(1968-),男,博士,教授,博士生导师.研究领域:空间机器人,控制理论及运用.
杜晓东(1982-),男,博士生.研究领域:视觉测量,制导、导航与控制.
李成(1972-),男,博士,教授.研究领域:空间机器人,制导、导航与控制.

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00242 或 https://robot.sia.cn/CN/Y2012/V34/I2/242

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