空间站组合臂安装载荷的自主安全操控策略

Aiming at the exposed payloads operation task on the space station，an autonomous and safe operation strategy of macro-micro manipulator assembling payloads is proposed. In this strategy，fine initial positioning of the assembly operation is carried out by the visual servo control of the micro manipulator，which overcomes the influence of errors such as the difference between on-orbit and ground，the deformation of the cabin，and the large-scale open-loop motion of the macro-micro manipulator，and provides accurate initial conditions for the subsequent inserting payloads. The inserting operation is carried out by the force control of manipulator and autonomous interaction process between manipulator and payloads，which adapts to the residual position and attitude deviations from visual servo control，reduces the interaction time between on-orbit and ground，the interaction time between manipulator and the payload，the duration of the force control，and reduces the dynamic coupling between the macro and micro manipulator，and completes the payload insertion and extraction operation autonomously and safely. The operating strategy has been verified by simulation and ground tests，and successfully applied to the on-orbit operation of macro-micro manipulator assembling exposed payloads. It ensures the success of the payload assembling task of China’s Tiangong Space Station.