全程恒定基座姿态零扰动的空间机械臂轨迹规划  

Trajectory planning of a space manipulator with constant zero-disturbance to base attitude

作　　者：黄兴宏[1] 贾英宏[1] 徐世杰[1] 卢山 

机构地区：[1]北京航空航天大学宇航学院,北京100083 [2]上海航天控制技术研究所,上海200233 [3]上海市空间智能控制技术重点实验室,上海200233

出　　处：《北京航空航天大学学报》2017年第3期488-496,共9页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(11272027)~~

摘　　要：本文研究了全程恒定基座姿态零扰动的自由漂浮空间机器人(FFSR)末端位姿轨迹规划的问题。针对无运动学冗余自由度的三关节平面FFSR系统,首先建立了其末端位姿与关节角之间的状态变换关系,然后给出了以基座姿态和关节角为状态变量的系统方程。根据该系统方程,利用非线性系统的可控性判据证明了在保证全程恒定基座姿态零扰动的前提下,对FFSR系统的末端位置和姿态同时作轨迹规划的可行性;再利用最优控制策略,将轨迹规划问题转换为最优控制问题,设计了一种全程恒定基座姿态零扰动的末端位姿轨迹规划方法。数值仿真验证了结论的正确性和设计方法的有效性。The end effector’s position ＆ attitude trajectory planning of a free-floating space robot（FFSR）with constant zero-disturbance to the base attitude was investigated.For a kinematically non-redundant threedegree-of-freedom FFSR,a state transformation between the position ＆ attitude of the end effector and the joint angles was deduced,and then the system equations using the base attitude and joint angles as state variables was presented.According to the system equations,the feasibility of the constant zero-disturbance path planning of the end effector’s position ＆ attitude was proved via the controllability condition of a nonlinear system,and then a constant zero-disturbance path planning algorithm was developed by an optimal control strategy.Numerical examples validate the effectiveness of the proposed feasibility conclusion and the path planning algorithm.

关 键 词：自由漂浮空间机器人(FFSR) 轨迹规划 全程恒定基座姿态零扰动 可控性 控制函数参数化 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] TP242.2[自动化与计算机技术—检测技术与自动化装置]