Singularity Robust Path Planning for Real Time Base Attitude Adjustment of Free-floating Space Robot  

作　　者：Cheng Zhou Ming-He Jin Ye-Chao Liu Ze Zhang Yu Liu Hong Liu 

机构地区：[1]State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

出　　处：《International Journal of Automation and computing》2017年第2期169-178,共10页国际自动化与计算杂志（英文版）

基　　金：supported by National Program on Key Basic Research Project(973 Program,No.2013CB733103);the Program for New Century Excellent Talents in University(No.NCET-10-0058)

摘　　要：This paper presents a singularity robust path planning for space manipulator to achieve base （satellite） attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAl （realtime application interface） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.This paper presents a singularity robust path planning for space manipulator to achieve base （satellite） attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAl （realtime application interface） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.

关 键 词：Space robot path planning base attitude adjustment task priority reaction null-space. 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]