[1] FLORESABAD A, MA O, PHAM K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68:1-26.
[2] JOPPIN C, HASTINGS D E. On-orbit upgrade and repair:the Hubble Space Telescope example[J]. Journal of Spacecraft and Rockets, 2006, 43(3):614-625.
[3] GEORGE J B, KARL P S, ANDREW L B, et al. ISS Russian segment motion control system operating strategy during the orbiter repair maneuver[C]//AIAA Guidance, Navigation, and Control Conference and Exhibit. Reston:AIAA, 2005:1-10.
[4] ABRAMOVICI A. The Special Purpose Dexterous Manipulator (SPDM) systems engineering effort-A successful exercise in cheaper, faster and (hopefully) better systems engineering[J]. Journal of Reducing Space Mission Cost, 1998, 1(2):177-199.
[5] TERI G, MILES N. Thermal design considerations of the Robotic Refueling Mission (RRM)[C]//41 st International Conference on Environmental Systems. Reston:AIAA, 2011:1-12.
[6] AHLSTROM T D, DIFTLER M A, BERKA R B, et al. Robonaut 2 on the International Space Station:status update and preparations for IVA mobility[C]//AIAA SPACE 2013 Conference and Exposition. Reston:AIAA, 2013:1-14
[7] AMBROSE R A. Development and deployment of Robonaut 2 to the International Space Station[R]. Houston:Johnson Space Center, 2011.
[8] DIFTLER M A,MEHLING J S, ABDALLAH M E, et al. Robonaut 2-The first humanoid robot in space[C]//IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 2011:2178-2183.
[9] BADGER J, HULSE A, TAYLOR R, et al. Model-based robotic dynamic motion control for the Robonaut 2 humanoid robot[C]//IEEE-RAS International Conference on Humanoid Robots. Piscataway:IEEE Computer Society, 2013:62-67.
[10] TALEBIT H A, PATELT R V, ASMER H. Dynamic modeling of flexible-link manipulators using neural networks with application to the SSRMS[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway:IEEE,1998:673-678.
[11] CRANE C D, DUFFY J, CARNAHAN T. A kinematic analysis of the Space Station Remote Manipulator System (SSRMS)[J]. Jounral of Robotic Systems, 1991, 8(5):637-658.
[12] SATO N, WAKABAYASHI Y. JEMRMS design features and topics from testing[C]//Proceeding 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS). Hubert:Canadian Space Agency, 2001:1120-1129.
[13] MASANORI N, TAKAHISA S, CHIKARA H, et al. On the results of the MFD flight operation[R]. Toyko:NASDA, 1998:1-2.
[14] ODA M. Space robot experiment on NASDA's ETS-VⅡ satellite[C]//Proceeding of IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 1999:1390-1395.
[15] BRUNNER B, HIRZINGER G, LANDZETTEL K, et al. Multisensory shared autonomy and tele-sensor-programming key issues in the Space Robot Technology Experiment ROTEX[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway:IEEE, 1993:2123-2129.
[16] HIRZINGER G, BRUNNER B, DIETRICH J, et al. Sensor-based space robotics-ROTEX and its telerobotic features[J]. IEEE Transactions on Robotics and Automation, 1993, 9(5):649-663.
[17] ALBU-SCHAFFER A, BERTLEFF W, REBELE B, et al. ROKVISS-robotics component verification on ISS current experimental results on parameter identification[C]//IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 2006:3879-3885.
[18] HIRZINGER G, LANDZETTEL K, REINTSEMA D, et al. ROKVISS-Robotics component verification on ISS[C]//The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space. Darmstadt:European Space Agency, 2005, 57-67.
[19] LESLIE J Q, TIMOTHY J B, JOHN A S. SRMS assisted docking and undocking for the orbiter repair maneuver[C]//AIAA Guidance, Navigation, and Control Conference and Exhibit. Reston:AIAA, 2005:1-8.
[20] SEARLE I. Space station common berthing mechanism, a multi-body simulation application[R]. Washington,D.C.:NASA, 1994:1-5.
[21] SATOSHI U, TORU K, HIROHIKI U. HTV rendezvous technique and GN&C design evaluation based on 1 st flight on-orbit operation result[C]//AIAA/AAS Astrodynamics Specialist Conference. Reston:AIAA, 2010:1-8.
[22] 朱仁璋, 王鸿芳, 徐宇杰, 等. 从ETS-VⅡ到HTV-日本交会对接/停靠技术研究[J]. 航天器工程, 2011, 20(4):6-31. ZHU R Z,WANG H F,XU Y J, et al. From ETS-VⅡ to HTV:Study of Japanese rendezvous and docking/berthing technologies[J]. Spacecraft Engineering, 2011, 20(4):6-31(in Chinese).
[23] NGUYEN P K, RAVINDRAN R, CARR R, et al. Structural flexibility of the Shuttle Remote Manipulator System Mechanical Arm[C]//AIAA Guidance and Control Conference. Reston:AIAA, 1982:246-256.
[24] ODA M, KIBE K, YAMAGATA F. ETS-VⅡ, space robot in-orbit experiment satellite[C]//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 1996:739-744.
[25] ODA M, INABA N, TAKANO Y, et al. Onboard local compensation on ETS-VⅡ space robot teleoperation[C]//Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Piscataway:IEEE, 1999:701-706.
[26] OTT C, ALBU-SCHAFFER A, KUGIY A, et al. A Passivity based cartesian impedance controller for flexible joint robots-Part I:torque feedback and gravity compensation[C]//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 2004:2659-2665.
[27] ALBU-SCHAFFER A, OTT C, HIRZINGER G. A passivity based Cartesian impedance controller for flexible joint robots-part Ⅱ full state feedback, impedance design and experiments[C]//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 2004:2666-2672.
[28] ALBU-SCHAFFER A, OTT C, HIRZINGER G. A unified passivity based control framework for position, torque and impedance control of flexible joint robots[J]. International Journal of Robotics Research, 2007, 26(1):5-21.
[29] SATOKO A, YOSHIDA K. An adaptive control of a space manipulator for vibration suppression[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway:IEEE, 2005:1-6.
[30] SPONG M W. Modeling and control of elastic joint robots[J]. Journal of Dynamics Systems, Measurement, and Control, 1987, 109(1):310-319.
[31] DUBOWSKY S, PAPADOPOULOS E. The kinematics, dynamics, and control of free-flying and free-floating space robotic systems[J]. IEEE Transactions on Robotics and Automation, 1993, 9(5):531-543.
[32] DUBOWSKY S. Path planning for space manipulators to minimizing spacecraft attitude disturbance[C]//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 1991:2522-2528.
[33] YOSHIDA K, HASHIZUME K, ABIKO S. Zero reaction maneuver:flight validation with ETS-VⅡ space robot and extension to kinematically redundant arm[C]//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway:IEEE, 2001:441-446.
[34] TORRES M A, DUBOWSKY S. Path planning for elastically constrained space manipulator systems[C]//IEEE/RSJ International Conference on Robotics and Automation. Piscataway:IEEE, 1993:812-817.
[35] MAVROIDIS C, ROWE P, DUBOWSKY S. Inferred end-point control of long reach manipulator systems[C]//IEEE International Conference on Intelligent Robots and Systems. Piscataway:IEEE, 1995:1-6.
[36] HARA N, FUKAZU Y, KANAMIYA Y, et al. Singularity-consistent torque control of a redundant flexible-base manipulator[C]//9th International Conference on Motion and Vibration Control. New York:Springer, 2008:1-10.
[37] TORRES M A, DUDOWSKY S, PISONI A C. Path-planning for elastically-mounted space manipulators:experimental evaluation of the Coupling Map[C]//IEEE/RSJ International Conference on Robotics and Automation. Piscataway:IEEE, 1994:2227-2233.
[38] DUBOWSKY S. The dynamic control of robotic manipulators in space[R]. Washington,D.C.:NASA, 1988:1-6.
[39] 郝颖明, 付双飞, 范晓鹏, 等. 面向空间机械臂在轨服务操作的视觉感知技术[J]. 无人系统技术, 2018, 1(1):54-65. HAO Y M,FU S F, FAN X P, et al. Vision perception technology for space manipulator on-orbit service operations[J]. Unmanned Systems Technology, 2018, 1(1):54-65(in Chinese).
[40] JAXA. HTV4(KOUNOTORI 4) mission press kit[R]. Tokyo:JAXA, 2013:48-52
[41] TURCO S, PERRYMAN S. Ground control concept for on-orbit robotic maintenance operations on the Inter-national Space Station[C]//Space OPS 2004 Conference. Reston:AIAA, 2004:145.
[42] 郭祥艳, 刘传凯, 王晓雪. 加拿大移动服务系统地面遥操作模式综述[J]. 深空探测学报, 2018, 5(1):78-84. GUO X Y, LIU C K, WANG X X. A survey on teleoper-ation of Canada's mobile servicing system[J]. Journal of Deep Space Exploration, 2018, 5(1):78-84(in Chinese).
[43] 王永, 谢圆, 周建亮. 空间机器人大时延遥操作技术研究综述[J]. 宇航学报, 2010, 31(2):299-306. WANG Y, XIE Y, ZHOU J L. A research survey on tele operation of space robot through time delay[J]. Journal of Astronautics, 2010, 31(2):299-306(in Chinese).
[44] PREUSCHE C, REINTSEMA D, LANDZETTEL K, et al. Robotics component verification on ISS ROKVISS-preliminary results for telepresence[C]//IEEE International Conference on Intelligent Robots and Systems. Piscataway:IEEE, 2006:4595-4601.
[45] 李文皓, 张珩, 冯冠华. 复杂大时延的多主多从共享遥操作方法[J]. 航空学报, 2021,42(1):523896. LI W H, ZHANG H, FENG G H. Cooperative teleoperation for multi-master/multi-slave systems with time-varying large delay[J]. Acta Aeronautica et Astronautica Sinica, 2021,42(1):523896.
[46] 徐文福, 梁斌, 李成, 等. 空间机器人微重力模拟实验系统研究综述[J]. 机器人, 2009, 31(1):88-96. XU W F, LIANG B, LI C, et al. A review on simulated micro-gravity experiment system of space robot[J]. Robot, 2009, 31(1):88-96(in Chinese).
[47] JORGENSEN G, BAINS E. SRMS history, evolution and lessons learned[C]//AIAA SPACE Conference and Exposition 2011. Reston:AIAA, 2011:311-319.
[48] CARIGNAN C R, AKIN D L. The reaction stabilization of on-orbit robots[J]. IEEE Control Systems Magazine, 2000, 20(6):19-23.
[49] XU Y S, BROWN H B, FRIEDMAN J, et al. Control system of the self-mobile Space Manipulator[J]. IEEE Transactions on Control Systems Technology, 1994, 2(3):207-219.
[50] 黄献龙, 梁斌, 陈建新, 等. EMR系统机器人运动学和工作空间的分析[J]. 控制工程, 2000(3):1-6. HUANG X L, LIANG B, CHEN J X, et al. Analysis of EMR system robot kinematics and workspace[J]. Control Engineering, 2000(3):1-6(in Chinese).
[51] AGRAWAL S K, HIRZINGER G, LANDZETTEL K, et al. A new laboratory simulator for study of motion of free-floating robots relative to space targets[J]. IEEE Transactions on Robotics and Automation, 1996, 12(4):627-633.
[52] MA O, WANG J G, MISRA S, et al. On the validation of SPDM task verification facility[J]. Journal of Robotic Systems, 2004, 21(5):219-235.
[53] 倪风雷. 空间机械臂关节驱动及控制系统的研究[D]. 哈尔滨:哈尔滨工业大学, 2006:21-40. NI F L. Research on joint drive and control of space manipulator[D]. Harbin:Harbin Institute of Technology, 2006:21-40(in Chinese).
[54] LIANG B, LI C, XUE L, et al. A Chinese small intelligent space robotic system for on-orbit servicing[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway:IEEE, 2006:4602-4607.
[55] LIU H, GAO X H, JIN M H, et al. Development of the Chinese intelligent space robotic system[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway:IEEE, 2006:994-1001.
[56] 李清华, 燕雁. "一箭三星" 成功发射3颗技术科学试验卫星[J]. 中国航天, 2013(8):11. LI Q H, YAN Y. "Three satellites with one launch" successfully launched three technological and scientific test satellites[J]. Aerospace China, 2013(8):11(in Chinese).
[57] 刘冬雨, 刘宏, 张柏楠, 等. 空间机器人技术在载人航天器的搭载试验研究[C]//首届中国航天大会. 北京:中国宇航学会, 2018:117-125. LIU D Y, LIU H, ZHANG B N, et al. Research on space robotics on-orbit test in manned spacecraft[C]//First Chinese Astronautics Conference. Beijing:Chinese Society of Astronautics, 2018:117-125(in Chinese).
[58] 刘宏, 李志奇, 刘伊威, 等. 天宫二号机械手关键技术及在轨试验[J]. 中国科学:技术科学, 2018, 48(12):1313-1320. LIU H, LI Z Q, LIU Y W, et al. Key technologies of TianGong-2 robotic hand and its on-orbit experiments[J]. SCIENTIA SINICA Technologica, 2018, 48(12):1313-1320(in Chinese).
[59] 周建平. 中国空间站工程总体构想[J]. 载人航天, 2013, 19(2):1-10. ZHOU J P. Chinese space station project overall vision[J]. Manned Spacecraft, 2013, 19(2):1-10(in Chinese).
[60] 李大明, 饶炜, 胡成威, 等. 空间站机械臂关键技术研究[J]. 载人航天, 2014, 20(3):238-242. LI D M, RAO W, HU C W, et al. Key technology review of the research on the space station manipulator[J]. Manned Spacecraft, 2014, 20(3):238-242(in Chinese).
[61] 张大伟, 梁常春, 危清清. 机械臂辅助舱段转位轨迹跟踪控制与精度分析[J]. 载人航天, 2014, 20(2):104-109. ZHANG D W, LIANG C C, WEI Q Q. Trajectory tracking control and accuracy analysis of space robotic arm assisted cabin redocking[J]. Manned Spacecraft, 2014, 20(2):104-109(in Chinese).
[62] 刘宏, 蒋再男, 刘业超. 空间机械臂技术发展综述[J]. 载人航天, 2015, 21(5):435-443. LIU H, JIANG Z N, LIU Y C. Review of space manipulator technology[J]. Manned Spacecraft, 2015, 21(5):435-443(in Chinese).
CJA