机械臂在轨精细操作  

Detailed operation of orbit mechanical arm

作　　者：李格格[1] 左小五[1] 许伟明[1] 

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《信息技术》2014年第8期63-67,共5页Information Technology

基　　金：国家自然科学基金(61075027);上海市研究生创新基金(JWCXSL1202)

摘　　要：随着空间作业任务的复杂性不断提高,对空间机械臂的工作精度、灵活性和自主性都提出了更高的要求。燃料耗尽和器件损坏是造成卫星等航天器失效的主要原因,对燃料单元或损坏器件的及时更新能有效提高卫星等航天器的服役年限,因此单元更换是空间遥操作的主要任务。为了满足任务的要求,在传统基于关节空间的RRT算法上提出了基于工作空间的RRT算法,使末端关节可以保持水平,同时通过Kinect获取目标和障碍物的位置信息,利用包围盒方法给出障碍区间,使机械臂自主安全的完成空间单元更换的任务。With the complexity of the space operations ,we need higher level of accuracy, flexibility and autonomy of spaeemanipulator. Fuel exhaustionand and device damage are the main reason which caused the failure of satellites or other spacecraft, and the timely renewal of fuel unit or damaged device can effectively improve service life of satellites or other spaeeeraft, so renewal of equipment is the primary mission of space remote operation. In order to meet the requirements of the task, the article proposes RRT algorithm based on the workspace from out of RRT algorithm based on joint space to maintain the level of the end joints, meanwhile we can obtain the location information of the target or obstacle by Kinect and get barriers to interval using method of bounding box, and then manipulator can perform the space unit replacement task independently and safely.

关 键 词：空间作业 单元更换 RRT算法 包围盒 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]