Under the current development trend of large-scale and modular space structures, on-orbit assembly has become a key technical support for the construction and functional expansion of large-scale complex aerospace structures. Aiming at the requirements of large-scale planar reconfiguration derived from origami, this paper proposes an on-orbit assembly scheme suitable for origami-derived deployable structural units. First, a multi-stage smooth trajectory is designed to ensure the precise alignment of the docking pose. Second, a lightweight neural network disturbance observer is proposed, which treats the large inertia and hinge clearance of the origami structural units as lumped disturbances for torque compensation, effectively suppressing distal chatter from the root and improving trajectory tracking accuracy. Finally, an adaptive compliant control algorithm is constructed to dynamically adjust parameters and modify the reference trajectory based on contact forces, achieving compliant buffering during the docking process. Co-simulation verification based on ADAMS and Simulink demonstrates that the proposed scheme not only significantly reduces the trajectory tracking error during the manipulator movement stage, but also strictly controls the multi-dimensional contact forces within safe thresholds during the docking stage. This provides a theoretical basis and technical support for the autonomous construction and morphological expansion of future large-scale space deployable and foldable structures.
Meng et al. (Fri,) studied this question.