串并混联空间机械臂全自由度轨迹规划算法  

Trajectory-Planning Algorithm for Series-Parallel Space Manipulator Based on the Full DOFs

作　　者：王勇[1,2] 唐强[1,2] 徐拴锋[1,2] 朱志斌[1,2] 何英姿[1,2] 魏春岭[1,2] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190

出　　处：《空间控制技术与应用》2015年第5期13-18,共6页Aerospace Control and Application

基　　金：重点实验室基金资助项目(9140C59020611HT05)

摘　　要：目前,国内外对串并混联空间机械臂的研究较少;而且大多在舍弃冗余自由度的情况下进行轨迹规划.针对7自由度串并混联空间机械臂,提出了一种基于解析解、并且充分放开全部7个自由度的机械臂轨迹规划算法.该规划算法既扩大了串并混联空间机械臂的规划可达空间,又保证了规划的实时性,同时还保留了结构承载能力强的优点,可以充分发挥其作为空间抓捕用臂的优势.通过仿真和地面空间操作抓捕试验,验证了算法的有效性.There are few researches so far focusing on the series-parallel manipulator for space manipula- tors, where also the trajectory-planning algorithms are usually without resort to the redundant DOFs. This paper proposes a novel trajectory-planning algorithm for a 7 DOFs series-parallel space manipulator, which is based on the analytical solutions of the inverse kinematics, and makes use of all the 7 DOFs. The algorithm enlarges the reachable space of the manipulator, ensures real-time implementation of the planning, and also maintains the high load capacity due to the series-parallel structure. These facilitate the series-parallel space manipulator to capture the targets during the space operation. Through simula- tions and experiments for space operation on the ground, the efficiency of the algorithm is verified.

关 键 词：空间机器人 空间操作 轨迹规划 串并混联 冗余自由度 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]