空间机械臂技术综述及展望

The overseas space manipulator systems for on-orbit technology verification and engineering applications are reviewed, and the development trend of the space manipulator technology is analyzed from the aspects of task types, robot configurations, end effectors, and operation modes. Seven key technologies of space manipulators are summarized, including task planning, system control, path planning, visual perception, end effectors, teleoperation control, and ground verification. The on-orbit verification experiments of China space manipulators SY-7 and TianGong-2 are presented. Furthermore, the basic scheme of the Chinese space station manipulator system under development is introduced in detail. Finally, in view of the existing problems of the space manipulator technology, suggestions are put forward for the future development of the space manipulator technology in China.