一种笛卡儿空间的自由漂浮空间机器人路径规划方法  

A Path Planning Method for Free-floating Space Robot in Cartesian Space

作　　者：张福海[1] 付宜利[1] 王树国[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,黑龙江哈尔滨150001

出　　处：《机器人》2009年第2期187-192,共6页Robot

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：针对自由漂浮空间机器人工作时需保证载体姿态稳定的问题,提出了一种笛卡儿空间内载体姿态无扰的自由漂浮空间机器人非完整路径规划方法.首先,基于自由漂浮空间机器人特征方程和角动量守恒方程得到广义雅可比矩阵;其次,出于路径规划的需要,分析了载体姿态无扰的自由漂浮空间机器人可达工作空间;最后,引入相关系数,设计了笛卡儿空间内的无扰向量合成算法.仿真得到的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可行性和有效性.In order to ensure spacecraft attitude stability for the operational free floating space robot （FFSR）, a nonholonomic path planning method with zero-disturbance spacecraft attitude in Cartesian space is presented for the FFSR. Firstly, based on the characteristic equation and angular momentum conservation equation of the FFSR, the generalized Jacobian matrix is obtained. Secondly, in order to meet the need of path planning, the reachable workspace of FFSR with zero-disturbance spacecraft attitude is analyzed. Finally, with the introduction of correlative coefficient, the zero-disturbance vector synthesis algorithm in Cartesian space is designed. Simulation results of path planning show that the manipulator end-effector can reach the desired point and the spacecraft attitude is of zero-disturbance simultaneously. Therefore, the feasibility and validity of the presented method are verified.

关 键 词：自由漂浮空间机器人 载体姿态无扰 非完整路径规划 笛卡儿空间 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]