面向接管控制的空间机器人操控技术综述

为了延长在轨故障卫星的寿命、移除重要轨道位置上的空间碎片或失效卫星，使用空间机器人对空间目标的姿态或/和轨道进行接管控制变得越来越重要。本文系统调研了各类可用于对空间目标进行接管控制的手段，并将其按照与目标接触方式的不同，分成了刚性接管控制、绳系柔性接管控制以及非接触式接管控制，对各种接管控制手段进行了详细的阐述。最后对这3类接管控制手段的具体原理、操作方式及关键技术进行了系统的总结和分析，概括了各自的特点以及优劣势，对相关领域的理论与实践研究进行了展望。

Overview of Space Robot Manipulation Technology for Takeover Control

In order to extend the life of a malfunctioning satellite in orbit, or remove space debris and failed satellites off from the important orbit locations, it is becoming increasingly important to use space robots to take over the control of attitude or/and orbit of space targets. In this paper, various kinds of control methods which can be used for space targets takeover control are systematically investigated. According to the different contact ways with the target, they are divided into rigid takeover control, tethered flexible takeover control and contactless takeover control. All kinds of control methods are described in detail. Finally, the specific principles, operation modes and key technologies of these three kinds of takeover control methods are systematically summarized and analyzed, their respective characteristics, advantages and disadvantages are summarized, and the theoretical and practical research in related fields is prospected.