Review on key technologies of space intelligent grasping robot

Humankind's yearning for universe has never stopped. Over the past decades, various spacecrafts have played an important role in space exploration. Combined with the development of AI, the space intelligent grasping robot, a new in-orbit service spacecraft, will bring new power to space exploration. This paper reviews the technologies related to configuration design, dynamic modeling and control algorithm. A four-stage task planning is proposed. Firstly, the means of the detection stage are put forward; secondly, the image recognition and visual tracking are described in the docking stage; thirdly, the cooperative control of robot in the capture stage is emphatically discussed, several important problems, such as coupling, path planning and motion control, multi-objective optimization, collision, are proposed. In order to solve these problems, the current research progress is summarized, and some new problem-solving technologies based on AI are analyzed in detail; lastly, the stability and control of the combination are briefly introduced.