自由漂浮空间机器人回避动力学奇异的轨迹规划  

Trajectory Planning of Free-floating Space Robot with Avoidance of Dynamic Singularity

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150080

出　　处：《机器人》2012年第1期38-43,共6页Robot

基　　金：国家自然科学基金资助项目(60975063)

摘　　要：针对非完整约束导致的自由漂浮空间机器人广义雅可比矩阵动力学奇异性问题,提出一种间接求解机器人逆运动学的方案.该方案通过运动方程分解并构造迭代函数,将动力学奇异转换为运动学奇异问题,避免直接求解逆广义雅可比矩阵,解决广义雅可比矩阵动力学参数相关特性问题,仿真结果表明该方法能够有效地实现自由漂浮空间机器人回避动力学奇异的非完整轨迹规划.Aiming at the dynamic singularity of generalized Jacobian matrix caused by non-holonomic constraints in free-floating space robots,an approach of indirectly solving robot inverse kinematics is presented.With the decomposed kinematics equation and the constructed iterative function,the approach transforms the dynamic singularity into kinematic singularity,avoids directly solving inverse generalized Jacobian matrix,and resolves the dynamic parameter relativity problem caused by generalized Jacobian matrix singularity.Numerical simulations demonstrate that the approach achieves the non-holonomic trajectory planning of free floating space robot with avoidance of dynamic singularity effectively.

关 键 词：自由漂浮空间机器人 动力学奇异 非完整 轨迹规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]