载体姿态无扰的自由漂浮空间机器人运动规划  

Motion planning of a free floating space robot having zero-disturbance spacecraft attitude

作　　者：张福海[1] 付宜利[1] 王树国[1] 冉治通[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《清华大学学报（自然科学版）》2008年第11期1911-1914,1918,共5页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(60675051);长江学者和创新团队发展计划资助项目

摘　　要：为满足自由漂浮空间机器人系统工作时需保证载体姿态稳定的要求,提出了一种载体姿态无扰动的非完整运动规划方法。该方法通过引入载体姿态无扰约束方程,构建载体姿态无扰曲线组,设计了关节空间基本规划算法;采用多次规划的方法,克服了基本算法不能够在整个无扰工作空间内规划的不足。仿真得到的位置偏差和路径规划结果表明机械臂末端达到目标点的同时确保了载体姿态无扰动,从而验证了所提方法的有效性和可行性。A nonholonomic motion planning method was developed for a free floating space robot that would have zero-disturbance on the spacecraft attitude to meet the requirements of the stability for the spacecraft attitude. The method uses the constraint equations for the zero-disturbance spacecraft attitude and constructs the zero-disturbance spacecraft attitude curve groups to design a motion planning algorithm in the joint space. A multi-planning algorithm was used to overcome the drawback that the basic planning algorithm can not be used in the entire zero-disturbance workspace. Simulations of the position error and the path planning show that the manipulator end-effector can reach the desired point with zero-disturbance of the spacecraft attitude.

关 键 词：自由飘浮空间机器人 载体姿态无扰 非完整运动规划 关节空间 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]