中文摘要：

分析空间机械臂手系统在轨精细维修操作的尺寸链误差,提出一种利用机械臂手眼相机标定维修操作对象修正离线路径规划的策略,解决了机械臂、维修对象在轨安装和天地重力差异带来的误差环节,设计并完成了地面试验。通过在轨实施验证了标定策略的正确性,圆满完成了我国空间机械臂首次在轨维修试验。

英文摘要：

Aiming at on-orbit servicing fine operation, the dimension chain errors of a space manipulator system are analyzed in this paper. A calibration strategy based on the manipulator off-line planning trajectory compensated with the hand-eye camera measurements is proposed to correct the position and pose errors caused by the zero-gravity and on-orbit assembly of the manipulator and orbital replacable unit （ORU）. Ground tests by setting the deviation position and pose conditions of an ORU are designed and completed. Finally, the resuhs of the orbital experiments are presented to verify the effectiveness of the proposed methodology. China＇s first space manipulator system on-orbit servicing fine operation has been tested successfully.