|
|
|
| Review of Space Manipulator Control Technologies |
| XUE Zhihui1,2,3, LIU Jinguo1,2 |
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China;
3. University of Chinese Academy of Sciences, Beijing 100049, China |
|
|
|
|
Abstract Considering the importance of precise and dexterous control technology of space manipulator when performing complex and dangerous space tasks such as on-orbit maintenance, on-orbit assembly and on-orbit refueling, this paper analyzes the development trends of space manipulator from different types of space manipulator configurations and end effectors. 5 key technologies involved in the control process of space manipulators are summarized, including rendezvous, docking and capture, autonomous planning and intelligent control, sensing and perception, intelligent cooperation and control, and system security. Finally, the future development directions and prospect are put forward according to the problems existing in the control process of space manipulator.
|
|
Received: 03 June 2021
【特约综述】
Published: 26 January 2022
|
|
|
|
|
|
|
|
|
