Path planning of a free-floating space robot based on the degree of controllability  

作　　者：HUANG XingHong JIA YingHong XU ShiJie 

机构地区：[1]School of Astronautics, Beihang University, Beijing 100191, China

出　　处：《Science China(Technological Sciences)》2017年第2期251-263,共13页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.11272027)

摘　　要：An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controlla- bility-measurement(LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy.

关 键 词：free-floating space robot（FFSR） underactuated system path planning degree of controllability controllability measurement nilpotent approximation weighted A＊ algorithm optimal self-correcting method 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V441[自动化与计算机技术—控制科学与工程]