冗余空间机器人基座姿态无扰动路径规划  

Attitude-free Path Planning of Redundant Space Robot Base

作　　者：金明河[1] 刘子琦[1] 周诚[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：《机械与电子》2016年第12期76-80,共5页Machinery & Electronics

基　　金：国家重点基础研究发展计划(2013CB733103)

摘　　要：在研究冗余空间机器人基座姿态无扰动路径规划以实现在空间机器人末端进行连续路径跟踪的过程中基座姿态无扰动。提出一种具有奇异鲁棒特性的反作用零空间算法以完成冗余空间机器人关节运动与基座姿态扰动的解耦控制,其克服了传统基于反作用零空间算法中的算法奇异问题,且结合奇异鲁棒逆以及变阻尼系数克服动力学奇异,进而得到奇异鲁棒的空间机器人基座姿态无扰动路径规划算法。建立基于MATLAB/Simulink的空间机器人数值仿真系统以验证所提出算法的实用性以及可靠性,仿真结果表明提出的算法具有可行性。This paper studied the attitude reactionless path planning of redundant space roDot base to achieve the undisturbed base attitude in the process of continuous path tracking at the terminal of space robot. A singularity robust based reaction - null - space algorithm was proposed to achieve the decoupling control of joint motion and the base attitude disturbance. This proposed algorithm overcame the algorithmic singularity problem in the classical reaction - null - space method, and the singularity robust inverse and variable damping factor were adopted to conquer the dynamics singularity in the path planning algo- rithm, hence a singularity robust algorithm to achieve the base attitude adjustment was derived. Further- more, the MATLAB/Simulink based numerical simulation system was built to verify the practicability and reliability of the proposed algorithm. The simulation results demonstrated the feasibility of the proposed method.

关 键 词：冗余空间机器人 基座姿态无扰动 奇异鲁棒算法 数值仿真系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]