关键词: 航天器, 对接装配, 空间位姿, 位姿调整, 调姿轨迹

Abstract: In order to solve the problems of pose adjustment in digital docking assembly of spacecrafts，a two-point positioning and pose adjustment method was proposed.By adjusting the positions of the two key points in the docking bay to adjust the space posture of the cabin section，the fifth-order polynomial trajectory was used to adjust the pose of the trajectory planning，constrain cabin movement parameters，and determine the cabin section of a reasonable posture time to ensure the smooth and fast docking tasks.The method simplified the alignment algorithm，so the series mechanisms might meet the requirements of alignment algorithm，which avoided the multi-axis controls and reduced the control difficulties.The simulations of the proposed method were carried out by ADAMS.The docking cabin may reach the target position by using two-point positioning adjustment method.And the track of the displacement，velocity and acceleration are smooth and continuous，while the boundary conditions are adjusted.The maximum deviation between the pose and the target coordinate is as -0.08 mm，and the maximum acceleration during the adjustment is as 10 mm/s2.The simulation results show that the two-point positioning method may meet the requirements of accuracy，stability and high-efficiency of the digital assembly orientation of tube-type cabin，which may contribute to the automatic control of the barrel-type pose adjustments.

Key words: spacecraft, docking, space pose, pose adjustment, pose trajectory