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ABSTRACT Vision system of Free-Flying Space Robot is studied in this dissertation.

本文研究自由飞行空间机器人地面实验平台的视觉系统的设计和开发问题。

The theory of artificial Neural Network and its application in space robot control are studied in this thesis.

本论文对人工神经网络理论及其在空间机器人系统控制中的应用作了研究。

Six degrees of freedom were appended to the base of space robot when space robot is in free-floating state.

第三、针对自由漂浮空间机器人,提出了一种计算其运动学问题的新方法。

In addition, the mutual combination between teleoperation and autonomous control is the development direction of space robot for the long time, it not only can make use of the intellignece of human being but also can make operator release from the trivial busywork to resolve the problem of excess fatigue and easy mistake of operator.

另外,遥控操作与自主控制相互结合的共享控制是今后很长时间空间机器人的发展方向,它不但能最大限度发挥人的智能,而且使操作员从琐碎的作业中解放出来,解决操作员的过度疲劳与失误问题。

Based on this platform,the moving control character of space robot is studied,and the system time delay is analyzed.

基于该平台,对空间机器人控制特性和仿真过程中的延时环节进行了研究。

It is pointed out that,for overcoming time-delay infection of teleoperation of space robot and ensuring the stability and transparency of telerobot system in space,developing strategies should be that ①augmented reality technology with multi-apperception and robustness is adopted for configurative,certain and static environments;②the control technology of intelligent independence in slave local system with vision assistant is adopted for non-configurative, uncertain and dynamic environments;and ③intelligent control technology with multi-modes is adopted for multi-states environments.

指出就目前的技术发展水平而言,要能够有效地克服时延以确保空间机器人遥操作稳定性的同时系统具有良好的操作性能,应该采取的策略是:①在结构化的、确定性的和静态环境下,采用具有鲁棒性的多感知增强现实技术;②在非结构化的、不确定性的和动态环境下,采用视觉引导下的从端局部智能自主控制技术;③在多态环境下,采用多模式智能控制技术。

And is conformable for space robot application.

适合于空间机器人的应用要求。

Based on the conservation principle of linear and angular momentum,the method derives the equations of the mass and mass center as well as inertia tensor of the new end-effector for the manipulator handling the unknown object.

1引言由于自由飞行空间机器人本体的质量随着载荷及燃料的消耗而发生变化,而目标的惯性参数往往是未知的,因此在运动控制时,必须进行参数辨识。

Since this space robot strictly abide by the rules of momentum conservation and angular momentum conservation, its dynamic equations exhibit a strong nonlinearity.

此类空间机器人系统严格遵守动量守恒和角动量守恒,所以其动力学方程表现出强烈的非线性性质。

In this paper, we emphasis on the research of dynamic fuzzy control of space flexible manipulators.

重点研究了空间机器人柔性臂的动力学非线性控制问题。

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