面向空间伴飞机器人近距离在轨检测的运动规划方法研究

In order to ensure that the spacecraft runs more stably and reliably in the complex space environment, on-orbit testing technology has become an important development area in the on-orbit service system. For the technical limitations of current flyaround inspection system, this project is planned from a new point of view that space robot will approach and fly around the spacecraft as a new inspection platform, and study on the proximity on-orbit motion planning method based space robot. Because of the excellent on-orbit mobility of space accompanying flying robot, and its end effector can carry different non-contact detection devices, this method can meet the most of on-orbit proximity testing requirements of spacecraft. In theoretical research, this project intends to be based on the methods of velocity-level kinematics and spacecraft proximity relative motion. With the goals of accurate measurement trajectory tracking and security guarantee, through theoretical analysis and research of modeling simulation and experiment, it will systematically establishing the methods and techniques of measurement trajectory tracking, carrier disturbance optimization, spacecraft relative motion planning integrated manipulator motion. This project conforms to the development needs of the space on-orbit testing technology, and provides a new research idea for future on-orbit testing theory.

为保证航天器在复杂的空间环境中运行更加稳定可靠，航天器的在轨检测技术已成为在轨服务体系中一个重要的发展方向。针对目前航天器伴飞观测系统在近距离在轨检测技术中存在的技术局限，本项目从新的角度出发，将空间机器人作为待测航天器接近与伴飞的新型检测平台，研究一种基于空间机器人技术的航天器近距离在轨检测运动规划方法。由于空间伴飞机器人具有良好的机动性，并且其末端执行器可以携带不同的非接触贴近检测装置，因此该方法可满足多数航天器在轨近距离检测的需求。理论研究上，本项目拟基于空间机器人速度级运动学方法和航天器近距离相对运动方法，以精确跟踪测量轨迹并保证安全性为目标，通过理论分析、建模仿真和实验验证，系统地建成空间机械臂的测量轨迹精确跟踪、载体扰动优化、融合机械臂运动的航天器近距离相对运动规划方法和技术。本项目顺应了空间在轨检测技术的发展需求，为未来在轨检测理论提供一个新的研究思路。

针对航天器伴飞观测系统在轨近距离检测技术中存在的技术局限，本项目从新的角度出发，将空间机器人作为待测航天器接近与伴飞的新型检测平台，研究了空间机器人近距离在轨检测运动规划方法。首先，建立了自由漂浮空间机器人运动学与动力学模型，并提出了模型中动力学参数的辨识方法。然后，基于空间机械臂逆运动学模型，提出了一种空间机械臂笛卡尔轨迹规划方法，并基于奇异值分解方法，解决了运动中的动力学奇异问题。最后，针对载体扰动优化和近距离载体相对姿态调整策略，分别提出了笛卡尔轨迹和关节轨迹的参数化方法。设计了相应的目标函数。通过对目标函数进行优化，达到了载体姿态扰动优化与姿态调整的目的。相关仿真与实验验证了上述方法的可行性和有效性。