Inverse kinematics calculation method for minimum base disturbance analysis of seven-degree-of-freedom space manipulator

Abstract

The invention discloses an inverse kinematics calculation method for minimum base disturbance analysis of a seven-degree-of-freedom space manipulator. The inverse kinematics calculation method comprises the following steps: S1: carrying out geometric modeling on the seven-degree-of-freedom space manipulator, and adopting arm angles Psi to parameterize other joints except elbow joints; S2: analyzing the influence of joint extremity on the range of the arm angles Psi, analyzing the motion range of all other joints expect the elbow joints on the arm angles Psi, and determining the feasible region of one, two or three arm angles and restricting the search space of an algorithm; S3: analyzing three singularities of the manipulator such as kinematics singularity, algorithm singularity and half singularity, and eliminating the arm angles Psi not according with conditions; S4: establishing the generalized jacobian matrix of kinematical equation of the space manipulator; S5: carrying out optimizing calculation to obtain a manipulator position which can enable carrier satellite attitude change of the space manipulator to be minimum. According to the method, the base disturbance is reduced on the premise that small calculated amount is ensured, and the magnitude and calculated amount of the disturbance are balanced through the optimization algorithm.

Description

technical field [0001] The invention belongs to the field of manipulator control, and in particular relates to an analytical inverse kinematics solution method for minimum base disturbance of a seven-degree-of-freedom space manipulator. Background technique [0002] In space exploration, space manipulator technology has become one of the key research projects of various countries. With the deepening of research, the seven-degree-of-freedom redundant manipulator has a very prominent role in obstacle avoidance due to its kinematic redundancy characteristics, and has gradually been valued by researchers from all over the world. At present, in the existing technical solutions at home and abroad, the mechanical arms used to solve the minimum disturbance motion planning of the space manipulator base are all manipulators with six degrees of freedom or less. [0003] The general kinematic control method of the 6-DOF space manipulator is to use the speed-level Jacobian to calculate,...

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Problems solved by technology

[0004] This problem is more challenging in terms of redundant space manipulators. The attitude and position of the carrier satellite will be affected by the movement of the manipulator. Due to the redundant nature of the manipulator itself, we cannot get the exact solution, only A set of solutions can be obtained

The more perfect methods are ground seven-DOF manipulator control schemes, such as "Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution" published by the University of Tokyo in 2008, Harbin Institute of Technology in China in 2012 "An Analytical Solution for Inverse Kinematic of 7-DOF Redundant Manipulators with Offset-Wrist" published in 2010, but these methods can only control the 7-DOF manipulator on the ground, not the space manipulator.

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