It is a challenging problem for space robots autonomously to accomplish precise manipulation on objects with complex geometry. In this paper, an effective method for object classification and graspable components identification is firstly proposed by imitating the generation of human experience. Then, a “single” finger grasp planning method is developed which is able to generalize the grasp to the objects in the same category. Experiments verify the effectiveness of the proposed methods.

The control system design and simulation of noncooperative target proximity mission are investigated. Considering binocular vision sensor with imaging errors, a new relative position computation method is proposed to obtain the position of noncooperative target. With constraints like maximum relative velocity, control force and control torque, the cascade saturation PID control based on nonlinear decoupled position control and attitude control algorithms are developed in the lineofsight coordinate system. Further, holding points are adopted in conjunction with the proposed control methods to avoid collision with the target. Numerical simulation results in a typical noncooperative target proximity scenario are provided to demonstrate the effectiveness and reliability of the proposed strategy.

There are few researches so far focusing on the seriesparallel manipulator for space manipulators, where also the trajectoryplanning algorithms are usually without resort to the redundant DOFs. This paper proposes a novel trajectoryplanning algorithm for a 7 DOFs seriesparallel space manipulator, which is based on the analytical solutions of the inverse kinematics, and makes use of all the 7 DOFs. The algorithm enlarges the reachable space of the manipulator, ensures realtime implementation of the planning, and also maintains the high load capacity due to the seriesparallel structure. These facilitate the seriesparallel space manipulator to capture the targets during the space operation. Through simulations and experiments for space operation on the ground, the efficiency of the algorithm is verified.

The reason of the instability of bilateral teleoperation under time delay is analyzed. To guarantee the system stabilization，a control strategy is proposed based on Smith predictor controller and environment parameter online identification. Aiming at parameter identification in contacting operation， a parameter identification method is given combined with drawing spring experiments. The stability of control strategy and transparency of the teleoperation system are simulated. Finally, the drawing spring experiment is tested with time delay， and the validity of the control strategy is proved by the results.

A gryowheel can output torques in three directions via changing the angular momentum’s amplitude or direction. The servo system for swing angle control is the key to achieving the function of triaxial torque output. There is a strong coupling between the highspeed rotor’s swings in two directions so that the output torques in two directions independently is unavailable under normal PID control methods. A method for decoupling control is provided via adding a series of system matrices and creating two decoupling systems. The coefficients of the series of system matrices are changing as rotor speed changing. It can be solved by calculating the coefficients in a real time digital control processor. Numerical simulation result shows the feasibility of this control method.

An adaptive parameter estimation method during PEG（powered explicit guidance） is proposed to solve the difference between true parameters of lunar ascent body and guidance parameters saved in guidance computer. Some parameters that have an influence on PEG are transferred to two parameters vex and τ, including mass, mass flow rate, specific impulse, force and so on. Based on accelerometer output, the parameters can be estimated. Finally the necessary and validity of the method are proved via comparing the PEG simulation results respectively with adaptive estimated parameters and the original parameters.

From learning the mechanism of SADA （solar array drive assembly） microvibration, taking motor ripple torque and friction of slipring into account, a systemic model of the closedloop SADA driven by PMSM （permanent magnet synchronous motor） is established. The coupling dynamical equation between flexible solar cell arrays and motor driver is built. The friction of slipring is modeled by Striebeck effect, whose parameters are identified offline via nonlinear least square. Based on PI control strategy, the feedforward compensation is presented with the estimated value of the identified model. The simulation results show that the modelbased friction compensation can accurately estimate and compensate the friction nonlinearity with high precision and faster system response, by which the accuracy of speed tracking and performance of motor at low velocity are improved.

As one of the important measuring instruments in satellite attitude control system, the requirements for accuracy and reliability of floated gyro are increasing. In order to analyze the influences of thermal design and internal temperature field distribution of floated gyro on its accuracy and reliability, the internal temperature field is simulated and analyzed via Ansys Fluent software. By compared with the thermal vacuum test data, the accuracy of the finite element model and boundary conditions of floated gyro are verified. According to the simulation results, some optimization measures are proposed to improve the thermal design of floated gyro.

A static datadependence analysis method for loops based on polyhedral model is designed. The concept of live range is introduced into analysis. Only flow dependences must keep consistent with the order that they appears in the original execution of the program. Output dependences and antidependences can be eliminated by scalar expansion or forward substitution. This analysis method reforms the traditional analysis by introducing live range and eliminating unnecessary false dependence, via which more loops can be transformed. The validity and efficiency of the presented method are demonstrated by experiment．

The design procedure of ADU（actuator drive unit）software is introduced. The outer and inner time sequence restriction, such as 1553B message order and critical resource accessing order, are analyzed. The valid confirmation is presented. On software reliability, the key variables or system parts are recognized by SFMEA(software failure modes and effects analysis). Protection of singleevent upset of them is given. The validation of protection measure is validated.

Statistics is made based on 142 failures of CAST968platform small satellites from 2000 to 2014. The analysis results show that there are obvious regularities in failure characters, reasons, component types, time, subsystems, etc. Considering the importance of attitude and orbit control subsystem (AOCS) for the success of satellite mission, the statistics on failure reasons, components and component types of AOCS are analyzed. The design，environment and equipment are the three important factors resulting in AOCS failures. A brief analysis of the other subsystems is presented. Finally, failure prevention and design suggestions are given, including optimizing the designs of antiirradiation, key components and circuits’ redundancy, etc.