空间冗余机械臂零反作用最优路径规划  

Optimal Reactionless Path Planning for Space Redundant Manipulator

作　　者：李文龙[1] 孔祥龙[1,2] 裘俊 马伟[1] 张晓静 LI Wenlong;KONG Xianglong;QIU Jun;MA Wei;ZHANG Xiaojing(Shanghai Institute of Satellite Engineering,Shanghai 200240,China;School of Astronautics,Harbin Institute Technology,Harbin 150001,Heilongjiang,China;School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海卫星工程研究所,上海200240 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [3]上海交通大学航空航天学院,上海200240

出　　处：《上海航天（中英文）》2020年第5期30-36,共7页Aerospace Shanghai（Chinese&English）

基　　金：国家自然科学基金青年科学基金(51805329);科工局民用航天项目(D020102)。

摘　　要：自由漂浮空间机械臂运动通过力传递会对其载体航天器产生反作用力和力矩,从而影响基座和末端执行器的位置与方向。利用冗余机械臂的反作用零空间,求解对基座航天器姿态零干扰的机械臂运动规律的解析解。给定机械臂初始和终端状态,考虑最大关节角约束和最大关节角加速度约束,分别针对时间最优和沿整个运动路径关节加速度最小的问题,采用高斯伪谱法,在零反作用轨迹解集中寻找满足约束方程的最优解。所得最优解使得机械臂在达到期望构型的同时不影响基座姿态。将算法用于平面3自由度冗余机械臂系统中,仿真结果表明:算法在保证基座姿态稳定的同时,关节运动满足给定的约束条件,从而验证了算法的有效性。The motion of a free-floating space manipulator will generate reaction forces and moments on its carrier spacecraft through force transmission,and thus affect the positions and directions of the base and the end-effector.The analytic solution of the reactionless motion is solved by utilizing the reaction null-space(RNS)of the redundant manipulator,which ensures zero attitude disturbances.Given the terminal time and minimum joint acceleration along the whole trajectory,the Gauss pseudospectral optimization algorithm is adopted to find the optimal manipulator paths satisfying the boundary conditions and path constraints including the joint angle and joint acceleration limits in the reactionless trajectory solution set.The obtained optimal solution enables the manipulator to achieve the desired configuration without affecting the attitude of the base.The algorithm is applied to the planar base-manipulator system with 3 degrees of freedom.The simulation results show that the algorithm satisfies the given constraint conditions while ensuring the attitude stability of the base,which validates the effectiveness of the algorithm.

关 键 词：冗余空间机械臂 零反作用 路径规划 高斯伪谱法 

分 类 号：V474[航空宇航科学与技术—飞行器设计] TP241.2[自动化与计算机技术—检测技术与自动化装置]