空间机器人近距离非合作目标自主识别与捕获关键技术的研究

项目名称： 空间机器人近距离非合作目标自主识别与捕获关键技术的研究

项目编号： No.60805033

项目类型： 青年科学基金项目

立项/批准年度： 2009

项目学科： 金属学与金属工艺

项目作者： 徐文福

作者单位： 哈尔滨工业大学

项目金额： 23万元

中文摘要： 空间机器人在未来的空间活动中将发挥越来越重要的作用，如卫星的维修、空间垃圾的清理等。实际中，待服务对象上并没有安装专门的抓持机构、合作标志器等，即目标是非合作的。本课题针对空间机器人对近距离非合作目标跟踪、接近及捕获过程中需要解决的几个关键问题展开深入研究，取得了如下研究成果包：1)完成了非合作航天器目标特征的调研，并提出了三种针对典型非合作航天器的位姿测量方法；2)提出了非合作目标动力学参数辨识与运动状态估计的方法; 3)提出了空间机器人捕获非合作目标的自主轨迹规划与控制、奇异回避等方法; 4)提出了空间机械手与其基座的协调规划与控制方法；5)提出了空间机器人系统多领域统一建模与仿真方法，并开发了仿真系统软件；6)提出了用于验证非合作目标自主识别与捕获关键算法的半物理仿真方法，研制了相应的实验系统。 在该项目的支持下，圆满完成了所有研究内容，达到了所有预期目标，共发表学术论文28篇，其中SCI期刊论文10篇，EI期刊论文16篇，EI检索国际会议2篇；申请国家发明专利3项。 本课题的研究对于空间机器人执行在轨任务具有重大的理论和应用价值。

中文关键词： 空间机器人; 非合作目标; 自主识别; 路径规划; 动力学奇异

英文摘要： Space robotic systems are expected to play an increasingly important role in the future. The applications include satellites repairing, space debris removing, et al. In practice, the objects to be serviced are generally non-cooperative, i.e. neither any artificial patterns used for the measurement, nor grappling fixtures applied for the capture, are mounted on the targets. Supported by National Nature Science Foundation of China (NSFC) under research grant 60805033, our group deeply studied the key problems of space robot for tracking, approaching and capturing the non-cooperative target in close range, and gained the following research results: 1)Completed the investigation of non- cooperative target features, and proposed three pose measurement methods of typical non-cooperative spacecrafts; 2)Proposed dynamic parameter identification and motion state estimation methods of non-cooperative targets; 3)Proposed autonomous trajectory planning, control, and dynamic singularity avoidance methods of space robot for capturing non-cooperative target; 4)Proposed coordinated planning and control method of space manipulator and its base; 5) Proposed a united multi-domain modelling and simulation method of space robotic system, and developed a simulation software; 6)Proposed a semi-physical simulation approach for verifying the key algorithms of non-cooperative target recognition and capturing, and developed correspoding experimental system. Under the support of this project, all the research contents are successfully completend, and all the expected purposes are achieved. A total of 28 papers are published, including 10 SCI journal, 16 EI Journal, and 2 international conference papers. Moreover, three national invention patent are applied. The research of the project will have the important theory and application values for on-orbital servicing using space robot.

英文关键词： Space Robot; Non-cooperative Target; Autonomous Recognition; Path Planning; Dynamic Singularities