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A motion trajectory planning method for a robotic arm servo-rolling satellite docking ring

A technology of motion trajectory and manipulator, which is applied in the direction of manipulator, program control manipulator, manufacturing tools, etc., which can solve problems such as inability to lock, drift of the end track of the manipulator, and inability to complete the workspace of the servo manipulator within the specified time, etc.

Active Publication Date: 2022-07-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the trajectory of the end of the mechanical arm drifts on the docking ring during the tracking process due to the inability to lock the capture point of the docking ring of the failed satellite when the existing robotic arm servo planning technology is applied to the failed satellite. The completion of the servo within the specified time causes the target to drift out of the working space of the manipulator, and a motion trajectory planning method for the manipulator servo tumbling satellite docking ring is proposed

Method used

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  • A motion trajectory planning method for a robotic arm servo-rolling satellite docking ring
  • A motion trajectory planning method for a robotic arm servo-rolling satellite docking ring
  • A motion trajectory planning method for a robotic arm servo-rolling satellite docking ring

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specific Embodiment approach 1

[0027] Embodiment 1: Combining Figure 1-2 The specific process of a motion trajectory planning method for a robotic arm servo rollover satellite docking ring in this embodiment is as follows:

[0028] Step 1: Obtain the pose matrix of the robot arm base system relative to the end tool system according to the joint angle information fed back by the robot arm joint position sensor in real time e T b ;The joint coordinate system of the manipulator is such as figure 1 The corresponding DH parameter table is shown in Table 1;

[0029]

[0030] Among them, θ is the vector of 7 joint angles, and l is the length parameter of the manipulator link, which is the link offset d i the value of , b T 0 is a constant matrix, e T b Represents the pose matrix from the robot arm base system to the end tool system, e is the end tool system, b is the robot arm base system, e n b , e o b , e a b respectively represent the unit vector of the base system under the end system, e n ...

Embodiment

[0097] For the effectiveness of the present invention, the following combination image 3 The technical solution of the present invention is further described with reference to FIG. 6, using computer simulation.

[0098] Build a computer simulation platform and start the servo. The specific implementation steps are as follows image 3 As shown, do the following operations in each planning cycle:

[0099] [Step S1] Calculate based on joint angle feedback e T b ;

[0100] [Step S2] Calculate based on joint angle feedback e T g ;

[0101] [Step S3] The radius of the target docking ring is 813.25mm, the new capture point is reconstructed, and the calculated e T g_ ;

[0102] [Step S4] From e T g_ Solve the new pose feedback [d_, γ_];

[0103] [Step S5] Determine whether to enter the servo for the first time, if it is the first time to enter the servo, record the initial posture deviation [d init_ , γ init_ ], otherwise go directly to the next step;

[0104] [Step S6...

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Abstract

A motion trajectory planning method for a robotic arm servo-rolling a satellite docking ring, and relates to the field of trajectory planning. The invention is to solve the problem that the track of the end of the manipulator arm drifts on the docking ring during the tracking process because the existing manipulator servo planning technology is applied to the failed satellite because the capture point of the docking ring of the failed satellite cannot be locked. The invention includes: acquiring the pose matrix of the robot arm base system relative to the end tool system e T b ; Obtain the pose matrix of the docking ring capture point coordinate system relative to the end tool system e T g ;use e T b The attitude information of the base system of the robot arm in the middle, and the end tool system is used as the reference coordinate system to reconstruct e T g , obtain the pose information [d_, γ_] of the reconstructed docking ring capture point coordinate system relative to the end tool system; plan the desired path at the end of the manipulator based on the trigonometric function, so that [d_, γ_] converges within the preset time to within the capture tolerance; use the desired path at the end of the manipulator to obtain the subdivision joint trajectory of the manipulator. The invention is used for planning the motion track of the mechanical arm servo docking ring.

Description

technical field [0001] The invention relates to the field of trajectory planning, in particular to a motion trajectory planning method of a robotic arm servo-rolling a satellite docking ring. Background technique [0002] Failed satellites do not have cooperative markers. In order to capture such satellites, a hand-eye camera is installed at the end of the robotic arm, and the relative pose between the end tool system and the target is obtained by measuring typical features on the satellite. Common features of the failed satellites include docking rings, windsurfing mounts, antennas, and more. Among them, the docking ring has sufficient strength and can be used as the grasping interface of the end tool. Therefore, the docking ring is the most ideal servo target and grasping interface for the failed satellite. In addition, the failed targets are generally in the tumbling state of rotationally coupled nutation, and capturing such targets poses a huge challenge to the servo pl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 杨国财崔士鹏纪军红李志奇倪风雷金明河刘宏
Owner HARBIN INST OF TECH
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