Path planning for minimizing base disturbance of free-floating space robot

ZENG Xiang-xin; GUAN Ying-zi; YAN Zhuo; LI Wei; GUO Ji-feng

doi:10.3788/OPE.20172514.0067

您当前的位置：

首页 >

文章列表页 >

Path planning for minimizing base disturbance of free-floating space robot

更新时间：2020-08-13

- Path planning for minimizing base disturbance of free-floating space robot
- Optics and Precision Engineering Vol. 25, Issue 12z, Pages: 67-73(2017)
- 作者机构：
  
  1. 哈尔滨工业大学航天学院,黑龙江哈尔滨,150001
  2. 西安航天动力试验技术研究所,陕西西安,710000
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20172514.0067
  CLC： TP242
- Received：24 August 2017，
  
  Revised：10 September 2017，
  
  Published：31 December 2017
- 稿件说明：
移动端阅览
曾祥鑫, 关英姿, 晏卓等. 自由漂浮空间机器人最小基座扰动路径规划[J]. 光学精密工程, 2017,25(12z): 67-73

ZENG Xiang-xin, GUAN Ying-zi, YAN Zhuo etc. Path planning for minimizing base disturbance of free-floating space robot[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 67-73
曾祥鑫, 关英姿, 晏卓等. 自由漂浮空间机器人最小基座扰动路径规划[J]. 光学精密工程, 2017,25(12z): 67-73 DOI： 10.3788/OPE.20172514.0067.

ZENG Xiang-xin, GUAN Ying-zi, YAN Zhuo etc. Path planning for minimizing base disturbance of free-floating space robot[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 67-73 DOI： 10.3788/OPE.20172514.0067.

摘要

为改善空间自由漂浮机器人抓捕目标的运动过程中基座姿态扰动较大的情况，建立了一种基于Gauss伪谱法的最优路径规划方法。首先，利用空间多刚体动力学理论建立空间机械臂的运动学和动力学模型。然后，采用最优控制问题来描述空间机器人最小基座扰动的路径规划问题，并基于Gauss伪谱法将该最优控制问题在一系列LG（Legendre-Gauss）点上进行离散化，将其转化为非线性规划问题。最后，将所设计的机械臂路径规划方法应用在平面二自由度空间机器人上进行仿真验证。仿真结果表明，该规划算法可快速求解出基座扰动最小的路径规划问题，并且所得到的机械臂运动轨迹连续平滑，与分解加速度控制（RAC）方法比较，基座姿态扰动减小17.5%。可有效的减小机械臂捕捉目标过程中，基座姿态扰动对通信和对地观察等任务的影响。

Abstract

In order to minimize the base attitude disturbance while free-floating robots captures targets

an optimal path planning method based on Gauss pseudospectral method was proposed. Firstly

the kinetic and dynamical models of space manipulator were established based on space multi-rigid-body dynamics. Then

the optimal control problem was employed to describe the path planning problem for minimum base disturbance

and the optimal control problem was discretized on a series of LG (Legendre-Gauss) points based on the Gauss pseudospectral method

and the optimal control problem was transformed into nonlinear programming problem. Finally

the designed path planning method was simulated by using a planar two degree-of-freedom space manipulator. The simulation results show that the designed algorithm can quickly calculate the path planning problem for minimum base disturbance

and the optimal trajectory of the manipulator is continuous and smooth. The attitude disturbance of the base decreases by 17.5% compared with the Resolved Acceleration Control (RAC) method. It effectively reduces the influence of the base attitude disturbance on the communication and observation of the ground in the process of target acquisition.

关键词

Keywords

references

KESSLER D J, JOHNSON N L, LIOU J C, et al.. The Kessler syndrome:implications to future space operations[C]. 33rd Annual AAS Guidance and Control Conference, AAS, 2010:6-10.

崔乃刚, 王平, 郭继峰, 等. 空间在轨服务技术发展综述[J]. 宇航学报, 2007, 28(4):805-811. CUI N G, WANG P, GUO J F, et al.. A review of on-orbit servicing[J]. Journal of Astronautics, 2007, 28(4):805-811. (in Chinese)

GEFKE G, JANAS A, CHIEI R, et al.. Advances in robotic servicing technology development[C]. AIAA SPACE 2015 Conference and Exposition, AIAA, 2015:1-9.

LAMPARIELLO R, AGRAWAL S, HIRZINGER G. Optimal motion planning for free-flying robots[C]. IEEE International Conference on Robotics and Automation, IEEE, 2003, 3:3029-3035.

AGHILI F. A prediction and motion-planning scheme for visually guided robotic capturing of free-floating tumbling objects with uncertain dynamics[J]. IEEE Transactions on Robotics, 2012, 28(3):634-649.

廖一寰, 李道奎, 唐国金. 基于混合规划策略的空间机械臂运动规划研究[J]. 宇航学报, 2011, 32(1):98-103. LIAO Y H, LI D K, TANG G J. Motion planning of space manipulator system based on a hybrid programming strategy[J]. Journal of Astronautics, 2011, 32(1):98-103. (in Chinese)

RYBUS T, SEWERYN K. Trajectory planning and simulations of the manipulator mounted on a free-floating satellite[C]. Conference on Robotics in Aeronautics and Astronautics. Springer, 2013:61-73.

RYBUS T, SEWERYN K, SASIADEK J Z. Trajectory optimization of space manipulator with non-zero angular momentum during orbital capture maneuver[C]. AIAA Guidance, Navigation, and Control Conference, AIAA, 2016:1-13.

戈新生, 陈凯捷. 自由漂浮空间机器人路径优化的Legendre伪谱法[J]. 力学学报, 2016, 48(4):823-831. GE X SH, CHEN K J. Path planning of free-floating space robot using Legendre pseudospectral method[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(4):823-831. (in Chinese)

XU Y SH, KANADE T. Space Robotics:Dynamics and Control[M]. Boston:Springer, 1993:165-204.

Views

706

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Path planning of free-floating space robot based on control variable parameterization method

Vehicle localization and navigation method based on LiDAR point cloud map

Location and path planning in underground parking lot for intelligent vehicles

Path planning strategy of amphibious spherical robot

Related Author

ZHANG Xu

ZENG Xiang-Xin LANG Bo

Xiang-xin ZENG

Bo LANG

Xu ZHANG

ZOU Zheng

ZHANG Jie

BAI Feng

Related Institution

School of Computer and Information Engineering， Harbin University of Commerce

2.Heilongjiang Provincial Key Laboratory of Electronic Commerce and Information Processing

3.Aviation Ammunition Institute， China North Industries Group Corporation Limited

Heilongjiang Provincial Key Laboratory of Electronic Commerce and Information Processing

Aviation Ammunition Institute, China North Industries Group Corporation Limited

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰