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Tutorial Review on Space Manipulators for Space Debris Mitigation

机译：减轻空间碎片的空间操纵器教程复习

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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.
机译：传统上，天基机械手的任务是机器人进行在轨维修或组装功能，但主动清除碎片已成为更为紧急的应用。我们提供了急需的教程复习，其中涉及通过在轨维修活动告知的主动碎片清除的许多机器人方面。我们首先对在轨维修机械手进行粗略的回顾，然后对空间碎片问题进行简短回顾。在简要考虑了远程操作中的时延问题之后，本文的重点探讨了空间机器人技术领域，涉及安装在航天器上的机械手的运动学，动力学和控制。问题的核心涉及航天器的安装，航天器的安装会响应操纵器的运动做出反应。我们赞成实施航天器姿态稳定化技术，以缓解一些计算问题，这些问题随着实现自治程度的提高而变得至关重要。我们审查与物理操纵有关的问题以及多臂操作的问题。我们得出的结论是，太空机器人技术已经发展成熟，并且已经足够成熟以应对诸如主动清除碎片的任务。

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