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An Online Trajectory Planning Method for Acceleration Optimal Space Robots Based on Control Period Adaptive Clock Synchronization

A space robot and trajectory planning technology, applied in attitude control and other directions, can solve the problems of unstable robot and drastic changes in acceleration, achieve the effect of small calculation amount, reduce flexible jitter, and improve tracking accuracy

Active Publication Date: 2016-09-14
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of instability in the motion process of the robot caused by the asynchronous clocks of the upper and lower computers and the drastic changes in the trajectory acceleration of the joint layer in the control of space robots, and provides a self-adaptive clock synchronization based on control cycle Acceleration-optimized online trajectory planning method for space robots,

Method used

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  • An Online Trajectory Planning Method for Acceleration Optimal Space Robots Based on Control Period Adaptive Clock Synchronization
  • An Online Trajectory Planning Method for Acceleration Optimal Space Robots Based on Control Period Adaptive Clock Synchronization
  • An Online Trajectory Planning Method for Acceleration Optimal Space Robots Based on Control Period Adaptive Clock Synchronization

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specific Embodiment approach 1

[0024] Specific implementation mode 1: An online trajectory planning method for an acceleration-optimized space robot based on control cycle adaptive clock synchronization in this implementation mode includes the following steps:

[0025] Step 1. Establish a mathematical model of the joint trajectory curve position, velocity and acceleration of the space robot with optimal acceleration within a joint trajectory planning cycle, and obtain the joint trajectory equation;

[0026] Step 2. According to the continuity condition of the joint trajectory interpolation, obtain the parameters in the joint trajectory equation in the step 1, and carry out the continuous planning of the joint space trajectory;

[0027] Step 3: Perform synchronous control on the basis of continuous planning of the joint space trajectory, that is, complete an online trajectory planning of the acceleration-optimized space robot based on the control cycle adaptive clock synchronization.

[0028] The effect of t...

specific Embodiment approach 2

[0034] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that the step 1 establishes the mathematical model of the joint trajectory curve position, velocity and acceleration of the space robot with optimal acceleration within a joint trajectory planning cycle, specifically:

[0035] In a joint trajectory planning cycle t p In , if the acceleration is optimal, the acceleration is selected as a constant value, the velocity is a linear function of time, and the highest order of the position of the joint trajectory curve is a quadratic function of time, namely:

[0036] y(t)=a 0 +a 1 t+a 2 t 2 (1)

[0037] v ( t ) = y · ( t ) = a 1 + 2 a 2 t - - - ...

specific Embodiment approach 3

[0041] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that: said step two is based on the continuity condition of joint trajectory interpolation, and the parameters in the joint trajectory equation in step one are specifically obtained as follows:

[0042]Assume that at the current moment, the trajectory just passes through point A and moves to point B, which happens to be the beginning of the transition trajectory segment from point B to point C, where point A is the joint position point at the initial moment of joint trajectory planning, and B and C are the joints The desired position points at adjacent moments, defined, ΔB=A-B, ΔC=C-B, then the continuity of position and speed can be obtained:

[0043] y ( - t 1 ...

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Abstract

An online trajectory planning method for an acceleration-optimized space robot based on control cycle adaptive clock synchronization. The invention relates to an online trajectory planning method for an acceleration-optimized space robot based on control cycle adaptive clock synchronization. The purpose of the present invention is to solve the problem of instability in the motion process of the robot caused by the asynchrony of the clocks of the upper and lower computers and the drastic change of the trajectory acceleration of the joint layer in the control of the space robot. Step 1. Establish the mathematical model of the joint trajectory curve position, velocity and acceleration of the space robot with optimal acceleration within a trajectory segment planning cycle, and obtain the joint trajectory equation; Step 2. According to the continuity condition of joint trajectory interpolation, find Take the parameters in the joint trajectory equation in the first step, and carry out continuous planning of the joint space trajectory; step three, perform synchronous control on the basis of the continuous planning of the joint space trajectory. The invention is applied in the field of robot control.

Description

technical field [0001] The invention relates to an online trajectory planning method for an acceleration-optimized space robot based on control cycle self-adaptive clock synchronization. Background technique [0002] With the development of aerospace technology in various countries, space robots will play an increasingly important role in future space operations. In addition to the strict requirements on the reliability of the hardware system, the space robot also puts forward high requirements on its planning and control methods. Compared with traditional ground robots, the control and planning of general space robots mainly have the following difficulties: 1) Space robots have strong structural flexibility, and the free-floating characteristics of space robot carriers (or bases) make space robots not only Gentle jitter is generated, and the disturbance to its carrier will cause obvious changes in the carrier's pose, which will seriously affect the pose accuracy of the spa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 刘业超夏进军倪风雷金明河魏传锋
Owner HARBIN INST OF TECH
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