视觉导引受限下空间绳系机器人最优逼近控制

针对空间绳系机器人对目标逼近过程中单目视觉视线角约束和导航信息不全问题，首先建立空间绳系机器人系统动力学模型。然后考虑抓捕器视线角约束，采用高斯伪谱法对空间绳系机器人逼近任务姿轨轨迹进行一体规划。同时设计无需相对目标距离的闭环控制器实现对空间绳系机器人最优姿轨轨迹进行跟踪控制。仿真结果表明，该方案能够克服视觉导引受限的影响，实现空间绳系机器人对位姿最优轨迹的精确跟踪。

Optimal Control of Approaching Target for a Tethered Space Robot under Constraint of Vision Guidance

Aiming to the problem of the incomplete navigation information and constraint of line-of-sight angle during the target approaching phase for a tethered space robot, the dynamic model of the tethered space robot is established. Considering the constraints of the control inputs and the field of view of the gripper, the optimal approaching trajectory of the tethered space robot to the target is designed using the Gaussian pseudospectral method. A closed loop optimal control scheme is presented without using the relative distance between the gripper and the target. The simulation results of the closed-loop control scheme show that the proposed scheme can overcome the influence of the constraint of line-of-sight angle and realize the accurate position and attitude tracking of the optimal trajectory.