面向非合作目标抓捕的机械臂轨迹规划方法  

Trajectory Planning Algorithm for Manipulators Capturing Non-cooperative Objects

作　　者：徐拴锋[1,2] 杨保华[3] 张笃周[1,2] 朱志斌[1,2] 唐强[1,2] 张海博[1,2] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制国家重点试验室,北京100190 [3]中国空间技术研究院,北京100094

出　　处：《中国空间科学技术》2014年第4期8-15,共8页Chinese Space Science and Technology

基　　金：国家高技术研究发展计划(863)(2012AA120602);重点基础研究发展计划(973)(2013CB733100)资助项目

摘　　要：文章针对非合作目标抓捕问题设计了基于误差反馈系数的机械臂轨迹规划算法。考虑到空间机械臂在轨服务要求,采用反作用零空间方法来规划机械臂运动轨迹以实现机械臂与航天器之间的协调运动。为避免在规划起始阶段位姿误差较大可能导致机械臂关节速度过大的问题,引入了位姿误差反馈系数。为对空间机械臂抓捕非合作目标的轨迹规划技术进行验证,搭建了地面半物理仿真系统。试验结果表明,通过合理选择位姿误差反馈系数,设计的轨迹规划算法能够使固定基座机械臂末端执行器以较为均匀的速度逼近非合作目标,并能以较高精度实现对非合作目标的抓捕。该试验可以为空间机械臂抓捕非合作目标的轨迹规划提供参考。A manipulator trajectory planning algorithm based on a feedback coefficient for position/orientation error was proposed. A reaction null-space （RNS） method was employed to achieve the coordination motion between the base spacecraft and the manipulator which was utilized to execute on-orbit servicing （OOS）. In order to give desired manipulator motion at an average joint velocity, a feedback coefficient for position/orientation error was introduced, allowing to assign weighting factors to the manipulator motion. In order to test and verify the trajectory planning algorithm for space manipulator, the hardware in the loop （HIL） ground experiment simulator was established, where a fixed-based robot manipulator was adopted. Simulation results demonstrate that the proposed trajectory planning algorithm can guarantee that the manipulator end-effector approach the non-cooperative object at a well-proportional speed, and grasp the object with satisfying precision. It offers a guideline for trajectory planning of space manipulator when capturing the non-cooperative objects.

关 键 词：自由漂浮空间机械臂 非合作目标 轨迹规划 位姿误差反馈系数 半物理仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]