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An optimal trajectory planning method for a space robot to capture a tumbling target

A space robot, trajectory planning technology, applied in instruments, manipulators, program-controlled manipulators, etc.

Active Publication Date: 2019-02-19
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the trajectory planning problem of the space robot capturing the tumbling target, the present invention provides an optimal trajectory planning method for the space robot capturing the tumbling target, which ensures that the space robot will not encounter dynamic singularity problems at the time of capture, and realizes Minimize the collision force at the time of capture

Method used

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  • An optimal trajectory planning method for a space robot to capture a tumbling target
  • An optimal trajectory planning method for a space robot to capture a tumbling target
  • An optimal trajectory planning method for a space robot to capture a tumbling target

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Embodiment

[0132] Taking a space robot with a three-degree-of-freedom manipulator to capture a tumbling target as an example, the effectiveness of the method for planning the optimal capture trajectory of a space robot in the present invention is illustrated. The kinematics / dynamic parameters of the space robot are shown in Table 2, assuming that the moment of inertia of the rolling target is:

[0133]

[0134] In the body coordinate system, the position vector of the capture point is At the initial moment, the components of the rotation speed of the target in the three axes of the body coordinate system are [-4-2-4] deg / sec respectively.

[0135] Using the calculation process described in step 2, the workspace distribution of the space robot is obtained as figure 2 As shown, the best capture timing is obtained at the same time corresponding to the time t=127s. At this time, the capture point appears at the position [0.3538,0.4949,-0.0702]m, and its speed is [0.0395,-0.0271,0.0084...

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Abstract

The invention discloses an optimal track planning method for a space robot for capturing a rolling target. The method comprises the steps that a motion equation of the space robot and the rolling target is set up; a solution algorithm of the work space of the space robot and a determining rule of the optimal capturing opportunity are provided; the optimal capturing track of a mechanical arm end effector is obtained, finally, the effectiveness of the method is verified through examples. According to the determining rule of the optimal capturing opportunity, it can be guaranteed that capturing occurs in the path-independent work space of the space robot, and therefore a dynamics singular problem is avoided. According to the optimal capturing track, obtained based on the optimal control theory, of the mechanical arm end effector, it can be guaranteed that the end effector and a capturing point on the target reach the same position at the identical speed, and therefore collision force generated during capturing is minimum.

Description

【Technical field】 [0001] The invention belongs to the technical field of space robots and automatic control, and relates to an optimal trajectory planning method for a space robot to capture a rolling target. 【Background technique】 [0002] Space robotics technology has made great progress, and all major aerospace countries have implemented on-orbit experiments to verify space robotics technology. However, in the completed on-orbit experiments, the objects served by space robots are cooperative targets with attitude control capabilities, and ground monitoring shows that most of the failed satellites have tumbling motion, which makes space robots carry out on-orbit service tasks for such targets It has become very difficult, and the space robot technology for non-cooperative, especially tumbling targets needs to be further developed. [0003] The existing trajectory planning methods for space robots can be roughly divided into two categories: 1) The trajectory planning is co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664G05B2219/40511
Inventor 罗建军宗立军王明明袁建平朱战霞王保丰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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