自由漂浮机械臂奇异分析和避奇异轨迹规划  

Trajectory Planning of a Free-Floating Manipulator with Singularity Analysis and Avoidance

作　　者：黄兴宏 赵倩 白伟杰 HUANG Xinghong;ZHAO Qian;BAI Weijie(Beijing Institute of Electronic System Engineering,Beijing 100854,China)

机构地区：[1]北京电子工程总体研究所,北京100854

出　　处：《航天控制》2024年第5期15-22,共8页Aerospace Control

摘　　要：针对空间自由漂浮机械臂在任务工作空间进行轨迹规划时可能存在奇异的问题,首先对奇异点的主要影响因素进行了分析和证明,给出了奇异点的3个基本性质和一种奇异度量定义;然后基于鲁棒伪逆思想设计了一种光滑避奇异算法,并利用奇异值分解的手段给出了鲁棒伪逆法的避奇异机理,以及详细计算了避奇异时在关节工作空间和任务工作空间所引入的跟踪误差;最后,在此基础上提出了一种改进的鲁棒伪逆法,在实现奇异规避的同时,进一步减小了引入的跟踪误差。数值仿真验证了结论的正确性和设计方法的有效性。The trajectory planning in task workspace that can occur singularities during a space free-floating manipulator operating is investigated.Based on the analysis and proof of the factors influencing the singularities,three profound characteristics and one measurement are presented,and then a smooth trajectory planning algorithm is designed by the robust pseudo-converse method.According to the SVD approach,the mechanism of the robust pseudo-converse method is presented,and the tracking errors in joint workspace and task workspace are estimated while avoiding singularities.On this basis,an improved robust pseudo-converse method for singularity avoidance is developed,which further reduces tracking errors.Numerical simulation results validate the correctness of theorical analysis and effectiveness of the proposed trajectory planning methods.

关 键 词：自由漂浮机械臂 轨迹规划 奇异 鲁棒伪逆法 

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