CAJ | 학술논문

我国空间站机械臂承担舱段转位、辅助对接、舱外设备安装及维修等关键任务，具有大负载、高精度、高可靠等特点，涉及机、电、热、光、控等多学科技术交叉耦合，高度集成且研制难度巨大。在分析、比较国内外机械臂的基础上，提出了我国空间站七自由度冗余、分布式控制、位置可移动的机械臂技术方案，并阐述了高精度伺服控制、多约束路径规划等八类关键技术研究成果。空间站机械臂已具备了工程化实施条件，为我国空间站工程建设奠定了基础。
아국공간참궤계비승담창단전위、보조대접、창외설비안장급유수등관건임무，구유대부재、고정도、고가고등특점，섭급궤、전、열、광、공등다학과기술교차우합，고도집성차연제난도거대。재분석、비교국내외궤계비적기출상，제출료아국공간참칠자유도용여、분포식공제、위치가이동적궤계비기술방안，병천술료고정도사복공제、다약속로경규화등팔류관건기술연구성과。공간참궤계비이구비료공정화실시조건，위아국공간참공정건설전정료기출。
The space station manipulator of China takes on the tasks of relocking spacecraft sec-tions, docking assistance , installing equipments , and maintenance of the space station .It has the features of a high degree of accuracy , reliability and load ability .Since it is a highly integrated robot system, combing technologies of mechanics , electronics, thermotics, vision and computer control , the development of the space station contains many unsolved key technologies and therefore intro-duces huge difficulty for the implementation .On the basis of the analysis and comparation to the space station manipulator at home and abroad , this paper present a technical solution for the space station manipulator which is a seven degree of freedom redundant , distributed controlled , and base movable manipulator system , it also describes the research results of the eight key technologies such as high accuracy servo-control and multiple constrained path planning .Research results in this paper shows the project of the space station manipulator has been qualified to be engineered , which lays the foundation for the construction of the space station of China .