自由漂浮空间机器人的笛卡尔连续路径规划  

Cartesian continuous-path planning for free-floating space robot

作　　者：徐文福[1] 刘宇[1] 强文义[2] 梁斌[1] 李成[1] 

机构地区：[1]哈尔滨工业大学空间智能系统研究所,哈尔滨150001 [2]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《控制与决策》2008年第3期278-282,287,共6页Control and Decision

基　　金：国家863计划项目(2005AA745060)

摘　　要：对于自由漂浮空间机器人,位置级逆运动学方程不适合于笛卡尔连续路径的规划,而且机械臂的运动会对基座产生扰动.为此提出了基于速度级逆运动学方程的方法,可实现5个目标:1)惯性空间连续位姿跟踪;2)基座姿态无扰动的连续位置跟踪;3)基座姿态无扰动的连续姿态跟踪;4)基座姿态调整的连续位置跟踪;5)基座姿态调整的连续姿态跟踪.采用阻尼最小方差法回避动力学奇异,所规划的路径连续平滑.仿真结果表明了该方法的有效性.For the free-floating space robot, the position-level inverse kinematics equations are unsuitable for the continuous Cartesian path planning, and the attitude of the satellite will be disturbed by the manipulator＇s motion. So a method based on the velocity-level inverse kinematics equations is proposed to plan the motion of the space manipulator. And five aims can be attained： 1） Continuous pose tracking in inertia space; 2）Continuous＇ position tracking without disturbance on the base attitude; 3）Continuous orientation tracking without disturbance on the base attitude; 4） Continuous position tracking and adjusting the base attitude at the same time; 5）Continuous orientation tracking and adjusting the base attitude at the same time. The approach of damped least-squared inverse is used to avoid the dynamic singularity. The planned path is very smooth and suitable to control the manipulator. Simulation results show the effectiveness of the algorithm.

关 键 词：空间机器人 连续路径规划 零反作用机动 动力学奇异 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]