Research on Space Manipulator System Man Machine Cooperation On-Orbit Operation Mode and Ground Test

In this paper, space manipulator man machine cooperation system structure and operation mode of Mir Space Station and International Space Station are reviewed briefly. Based on this, system structure, control mode, operation mode of Chinese first space manipulator and dexterous hand man machine cooperation experiment are introduced. Mathematics models and ground tests methodology of man machine cooperation are given. Via on orbit experiment, flight scheme and ground validation of space manipulator and dexterous hand man machine cooperation are reasonable. Through Chinese first on orbit space manipulator and dexterous hand man machine cooperation technology experiments, not only the technology foundation of man machine cooperation is established, but also it is accumulated experience for Chinese space robot.

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