Space robot trajectory planning method based on sequence convex optimization

A space robot and trajectory planning technology, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of free-floating space robots that have not been studied in depth, and achieve the goal of improving convergence speed, good real-time performance, and improved convergence Effect

Active Publication Date: 2021-09-03
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

Misra used the sequential convex optimization method to solve the trajectory planning problem of free-flying space robots, but did not study in depth the more widely used free-floating space robots

Method used

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  • Space robot trajectory planning method based on sequence convex optimization
  • Space robot trajectory planning method based on sequence convex optimization
  • Space robot trajectory planning method based on sequence convex optimization

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Embodiment

[0230] The simulation object of the present invention is a space robot with 7 joints, and the configuration of the system manipulator refers to the Canadian No. 2 manipulator, such as figure 1 The physical parameters of the system are shown in Table 4. Without loss of generality, it is assumed that the initial linear momentum and angular momentum of the system are zero, and the initial position of the center of mass of the base is selected as the origin of the inertial reference system. The origin O of the conjoined coordinate system of the base 0 Taken at the center of mass of the base, the coordinate axis is in the same direction as the principal axis of inertia. Assuming the joint coordinate system O of the base in the initial state 0 -x 0 the y 0 z 0 and inertial coordinate system O I -x I the y I z I are coincident.

[0231] Table 4 Dynamic parameters of space robot

[0232]

[0233] At the initial moment, the end position of the space robot is P e0 =(0,0,0...

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Abstract

The invention discloses a space robot trajectory planning method based on sequence convex optimization. The method comprises the steps: establishing a kinematic model of the space robot, considering the performance indexes and constraint conditions, establishing an optimal trajectory planning model of the space robot, and then providing an optimal trajectory rapid solving method based on sequence convex optimization; through discretization and linearization processing on non-convex constraints, converting a non-convex trajectory optimization problem of the space robot into an approximate convex optimization problem, and then iteratively solving the approximate convex optimization problem by using a sequence convex optimization method to obtain an optimal trajectory meeting constraint conditions. In order to improve the convergence speed during solving of the sequence convex optimization method, compared with a pseudo-spectral method, the sequence convex optimization method is better in solving real-time performance, the convergence is also greatly improved, and the effectiveness of the method is verified.

Description

technical field [0001] The invention belongs to the technical field of space robot systems, and relates to a space robot trajectory planning method based on sequential convex optimization. Background technique [0002] With the deepening of human space exploration, the tasks performed by space robots have become complex and diverse, such as space debris removal, satellite on-orbit service, large-scale space structure on-orbit assembly and space science experiments, etc. As a typical application of space robots, free-floating space robots greatly increase the complexity of trajectory planning due to the severe dynamic coupling between the base and the manipulator (Note: The space robots in the following specifically refer to free-floating space robots). Moreover, with the increase in the complexity of space tasks, the optimality and real-time requirements for trajectory planning of space robots are also more stringent. The solution of the problem increases a huge amount of c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱战霞吴天毅喻四刚
Owner NORTHWESTERN POLYTECHNICAL UNIV
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