Abstract:

Aiming at on-orbit servicing fine operation, the dimension chain errors of a space manipulator system are analyzed in this paper. A calibration strategy based on the manipulator off-line planning trajectory compensated with the hand-eye camera measurements is proposed to correct the position and pose errors caused by the zero-gravity and on-orbit assembly of the manipulator and orbital replacable unit (ORU). Ground tests by setting the deviation position and pose conditions of an ORU are designed and completed. Finally, the results of the orbital experiments are presented to verify the effectiveness of the proposed methodology. China′s first space manipulator system on-orbit servicing fine operation has been tested successfully.

Key words: Space manipulator, On orbit servicing, Fine operation, Calibration, Trajectory planning