自由飘浮空间机器人笛卡尔避奇异运动规划  

Cartesian singularity-avoiding path planning for free-floating space robot

作　　者：吴剑威[1] 史士财[1] 刘宏[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：《华中科技大学学报（自然科学版）》2009年第11期5-8,17,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家高技术研究发展计划资助项目(2006AA04Z228)

摘　　要：为了解决自由飘浮空间机器人笛卡尔运动规划过程中由动力学奇异而导致的关节速度无限大或无法计算的问题,提出了一种基于奇异值分解的高精度避奇异运动规划算法.在传统阻尼最小方差的基础上,利用奇异值分解将阻尼系数从固定量转化为随广义雅可比矩阵动态自适应变化的变量,算法保证了空间机器人通过奇异点时各关节的角速度变化曲线连续且平稳.算例验证了算法的有效性,结果表明该算法在非奇异位置不会引入跟踪误差,相比传统阻尼最小二乘法累计跟踪误差大约降低15%.Owing to the dynamic singularity, the joint velocity could be infinite or could be not calculate, when the planned Cartesian path of a free-floating space robot. A singularity avoid path planning algorithm based on the singular value decomposition was proposed. The algorithm changes the factor λ from constant to a dynamic variable damping factor changed with the determinant of generalized Jaco- bian matrix. The continuity and stableness of the joint velocity curve was guaranteed while the space manipulator passing by the system singularity point. And an example was presented for verifying the validity of the proposed algorithm. The results show that this algorithm does not include the errors at nonsingular area, and the inherited error is decreased about 15%compared to the method of traditional damped least-square.

关 键 词：自由飘浮空间机器人 运动规划 动力学奇异 阻尼最小方差 奇异值分解 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]