自由漂浮空间机器人最小基座扰动路径规划

曾祥鑫; 关英姿; 晏卓; 李伟; 郭继峰

doi:10.3788/OPE.20172514.0067

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自由漂浮空间机器人最小基座扰动路径规划

更新时间：2020-08-13

- 自由漂浮空间机器人最小基座扰动路径规划
- Path planning for minimizing base disturbance of free-floating space robot
- 光学精密工程 2017年25卷第12z期页码：67-73
- 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：
  
  国家863高技术研究发展计划资助项目（No.2015BAF09B02）();国家自然科学基金资助项目（No.11472090）()
- DOI：10.3788/OPE.20172514.0067
  中图分类号： TP242
- 收稿日期：2017-08-24，
  
  修回日期：2017-09-10，
  
  纸质出版日期：2017-12-31
- 稿件说明：
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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.

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references

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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.

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