Some questions of control of the robotized in-orbit assembly of large space structures

摘要

Presented was an analytical review of the foreign and domestic scientific literature published over more than two decades on the dynamics and theory of motion control of large space structures and free-flying space robots meant for assisting the astronauts or replacing them at execution of diverse maintenance operations in open space. Although many results on the design of control systems for each of the aforementioned kinds of objects are very significant taken separately, nevertheless the most important problem of using the flying robots for in-orbit assembly of the large space structures remains still unsolved. Formulated was the concept of complex approach to the problem of robot-assisted in-orbit assembly of space structures which lies in combining the algorithms of all subsystems involved in the assembly of the objects with regard for the requirements on safe interaction of the participants, high resultant precision and reliability of operation, and minimal use of the consumable fuel.