中文摘要：

由于强烈颤动在发射和严密轨道的温度环境期间，空间机器人的运动学的参数可以大部分从他们的名字的参数被背离。不同将引起结束受动器的真实姿势(包括的位置和取向) 不匹配需要的那，并且进一步从执行安排使命妨碍空格机器人。为了改善，提出空间机器人的精确性，用在结束受动器上修理的一个激光护林员提供的距离测量的一个新自我刻度方法被建议。空间机器人的一个距离测量模型在衰退飞机从激光横梁的起点根据距离被造到交叉点。基于模型，关于姿势错误的费用功能被导出。运动学的刻度被转移到一个非线性的系统优化问题，它被改进微分进化(DE ) 解决算法。自由(6-DOF ) 六度的 A 机器人被用作一个实际模拟例子，并且模拟结果出现：1 ) 空间机器人的姿势精确性的重要改进能被距离测量仅仅获得；2 ) 搜索效率被改进 DE 增加；3 ) 更多的刻度配置可以更好做刻度结果。

英文摘要：

Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.