A Space Manipulator Trajectory Planning Method for Minimizing Base Collision Disturbance

Abstract

The invention discloses a space manipulator track planning method for minimizing base seat collision disturbance, and belongs to the technical field of manipulator control. The space manipulator track planning method for minimizing the base seat collision disturbance includes: deriving a manipulator base seat attitude disturbance equation on the basis of establishing a space manipulator kinematical equation and a dynamical equation; designing a comprehensive optimized operator on the premise of considering tail capture pose accuracy and joint displacement limiting of a space manipulator, and optimizing manipulator configuration in a null space so as to achieve minimization of the base seat disturbance caused by collision; finally, using a particle swarm optimization algorithm to achieve track planning before the collision of the space manipulator from an initial pose to an ideal pose. The space manipulator track planning method for minimizing the base seat collision disturbance solves problems in the track planning before the collision of the space manipulator, achieves a simple and pellucid control process, performs novel and practical design of the comprehensive optimized operator, can achieve the purpose of reducing the base seat pose disturbance caused by the collision to the utmost on the premise of guaranteeing the accurate tail capture pose of the manipulator and preventing joint angles from exceeding limits.

Description

technical field [0001] The invention relates to a space manipulator track planning method for minimizing base collision disturbance, and belongs to the technical field of manipulator control. Background technique [0002] When the space manipulator performs contact tasks such as on-orbit assembly or capture, it generally goes through three stages: pre-collision, contact collision and post-collision control. In the pre-collision stage, it is not only necessary to adjust the capture pose of the end of the manipulator, but also to optimize the configuration and trajectory of the manipulator to achieve the goal of minimizing the collision pulse of the manipulator or minimizing the disturbance of the collision to the base. For the manipulator system with a small base inertia, the base will be greatly disturbed when it is impacted by a collision, and the attitude of the base is often the key to maintaining the communication between the space manipulator and the ground. Therefore, ...

AI Technical Summary

Problems solved by technology

At present, there are usually two ways to solve this problem: one is to use additional components, such as using a reaction wheel or adding a balance arm to counteract the disturbance of the base, but such methods will significantly increase the quality of the space manipulator system, and The balance ability is affected by its mechanism; the second is to use control algorithms, such as planning the configuration and trajectory of the manipulator before the collision, or reducing the relative speed of the collision, etc., but the current methods usually have several problems: ①Limited optimization ability;② The capture pose is not considered; ③ The actual limitation of the joint angle of the manipulator is not considered

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