Key Techniques and Applications of Space Cellular Robotic System

被引：0
|
作者：
Zhao H. [1 ]
Zhao Y. [1 ]
Tian H. [1 ]
An D.-X. [1 ]
机构：
[1] School of Astronautics, Harbin Institute of Technology, Harbin
来源：
Yuhang Xuebao/Journal of Astronautics | 2018年 / 39卷 / 10期
关键词：
Cellular; Modular; On-orbit construction; On-orbit maintenance; Robot; Self-configuration;
D O I：
10.3873/j.issn.1000-1328.2018.10.002
中图分类号：
学科分类号：
摘要：
As to the problem that traditional space manipulation devices are hardly applicable to the on-orbit construction of big scale space facilities, the space cellular robotic system (SCRS) which can realize the multilevel self-configuration is proposed in the paper. Its conception system and design philosophy are presented. Hardware designing of SCRS in the scenario of on-orbit assembly of space triangular truss structure is introduced. The key techniques including the multi-agent cooperative automatic planning under uncertainty, configuration decision of multi-layer robotic system, multi-agent cooperative autonomous unmapped navigation, and multi-agent hierarchical cooperative distributed control are summarized. Finally, the application prospect of the SCRS is proposed according to its features and advantages. © 2018, Editorial Dept. of JA. All right reserved.
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页码：1071 / 1080
页数：9
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