Mechanical arm track planning method considering spacecraft body attitude motion
A trajectory planning and robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large computational load and open-loop planning, and achieve the effect of reducing real-time calculation pressure and improving trajectory planning efficiency.
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[0079] This embodiment discloses trajectory planning for a robotic arm composed of five-section arms, and trajectory planning and simulation for the position and attitude orientation of the end of the robotic arm for the task of attitude motion of the center body of the spacecraft. Such as figure 1 As shown, the trajectory planning method of the manipulator considering the attitude motion of the spacecraft body disclosed in this embodiment can be completed through the following steps:
[0080] Step 1: In the initial state of the spacecraft, determine the change trajectory of the position and attitude orientation of the end effector on the manipulator through the quintic polynomial path planning method.
[0081] The initial values of the related parameters of the spacecraft and its robotic arm are shown in Table 1.
[0082] Table 1 Initial parameters of spacecraft center body and manipulator
[0083]
[0084] Define azimuth α n representative gesture pointing with this ...
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