哈尔滨工业大学工学硕士学位论文 II Abstract The docking technology with uncooperative target refers to the docking with spacecrafts which have no responsive sensors and special docking mechanisms. This docking technology can clean the space trash which are floating in space and capture or destroy the enemy s military satellites. So its development has high civil value and military significance. However, the national research on this technology lags behind developed countries, such as USA and some Europe countries. Therefore, it has a imperious demand to speeding up the research on the docking technology with uncooperative target which has great value. This thesis takes the free flying space manipulator system as the research object, which has the advantage of low energy consumption, and researches on the docking technology that is used in the task of capturing uncooperative target. The main research contents are as follows: design of the space manipulator s best impact configuration, the path planning of space manipulator system and the compliant control of the space manipulator system. Based on the velocity analysis of the free flying space manipulator system, this thesis deduces the system s kinematical equation. And it builds the dynamical model by using Lagrange equation. The generalized Jacobian matrix is obtained on the basis of system s momentum analysis. All of the above work has made good theoretical preparations for the research of the best impact configuration and path planning. This thesis also studies on the space manipulator s best impact configuration in task of capturing uncooperative targets. It deduces the distinguishing rule of the best impact configuration, analyzes the change of the angular momentums of the system and its constituent parts respectively and achieves the best impact configuration of the 6-joint free flying space manipulator system, which can control the angular momentum s change effectively. The path planning of the space manipulator system is carried out, which includes point-to-point path planning and continuous path planning. The continuous path planning consists of continuous position and pose tracing planning and continuous tracing planning with no disturbance on the system base. This thesis focuses on the planning of continuous position and pose tracing without disturbance on the base and achieves that the base pose has no influence in the process of path planning, the system can reach the desired position and the best impact configuration can be kept simultaneously. On the basis of the conventional impedance control, this thesis deduces the noncontact impedance control method and make it apply to the space manipulator system. The noncontact impedance control method builds the end s desired impedance model and virtual impedance model and realize the control of the impact 哈尔滨工业大学工学硕士学位论文 III force which happens in the capturing uncooperative target. Because the impact value is influenced by the impedance parameters of the impedance model, the thesis also conducts the simulation of the effect of the impedance parameters on impact control performance and concludes the impedance parameters preliminary coordination principles. Keywords: the docking with uncooperative target, the space manipulator system, the best impact configuration, path planning, the noncontact impedance control 哈尔滨工业大学工学硕士学位论文 IV 目 录 摘 要 . I ABSTRACT . II 第 1 章 绪 论 . 1 1.1 课 题 来 源 、 研 究 目 的 和 意 义 . 1 1.1.1 课 题 来 源 . 1 1.1.2 研 究 目 的 和 意 义 . 1 1.2 国 内 外 研 究 现 状 及 分 析 . 2 1.2.1 空 间 机 械 臂 抓 捕 目 标 . 3 1.2.2 空 间 机 械 臂 系 统 运 动 学 和 动 力 学 建 模 问 题 . 3 1.2.3 空 间 机 械 臂 最 佳 碰 撞 构 型 和 路 径 规 划 . 4 1.2.4 非 合 作 目 标 抓 捕 任 务 中 空 间 机 械 臂 控 制 问 题 . 5 1.3 本 文 主 要 研究内容 . 7 第 2 章 空 间 机 械 臂 系 统 运 动 学 和 动 力 学 建 模 . 8 2.1 引言 . 8 2.2 空 间 机 械 臂 结 构 及 基 本 符 号 定 义 .