Space robot jitter suppression trajectory planning method based on accelerated speed dynamic configuration

A space robot and trajectory planning technology, applied in the direction of instruments, adaptive control, general control systems, etc., can solve the problems of high computing power requirements of the robot controller, prolonged execution time of the robot, and the inability of the robot to accurately locate, etc. Delay effect, eliminate residual jitter, improve track tracking effect

Inactive Publication Date: 2014-08-06
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to propose a space robot shake suppression trajectory planning method based on acceleration dynamic configuration, to solve the problem that the existing robot system is prone to residual shake, the tracking accuracy is no

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  • Space robot jitter suppression trajectory planning method based on accelerated speed dynamic configuration
  • Space robot jitter suppression trajectory planning method based on accelerated speed dynamic configuration
  • Space robot jitter suppression trajectory planning method based on accelerated speed dynamic configuration

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specific Embodiment approach 1

[0035] Specific implementation mode 1: A space robot shaking suppression trajectory planning method based on acceleration dynamic configuration described in this implementation mode is characterized in that the method is implemented according to the following steps:

[0036] Step 1. According to the input expected displacement S p and maximum acceleration limit a m The minimum execution period t of the estimated trajectory segment pmin : Assuming that in the entire trajectory planning cycle, the entire trajectory segment is planned with the requirement of the maximum acceleration amplitude, then there is the following relationship between the expected displacement and the maximum acceleration limit:

[0037] 1 2 S p = 1 2 a m t p min 2 - ...

specific Embodiment approach 2

[0049] Specific implementation mode 2: the difference between this implementation mode and specific implementation mode 1 is that the planning method described in step 4 is divided into:

[0050] For the trajectory period t p , its size will satisfy one of the four distribution intervals, namely 1)t p >8τ d , 2)8τ d ≥t p >6τ d , 3) 6τ d ≥t p >4τ d , 4) 4τ d ≥t p >2τ d ; if t p ≤2τ d , then the trajectory period t p The value is corrected to t p =2.2τ d , so that it satisfies one of the above four intervals.

[0051] combine figure 1 The second embodiment is explained, and other steps and parameters are the same as those in the first embodiment.

specific Embodiment approach 3

[0052] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: it also includes:

[0053] Step 4 (1), if the trajectory period t p Belongs to the 1st) interval, ie t p >8τ d , then judge the acceleration time t acc whether it satisfies t acc >4τ d If this condition is met, the acceleration time t will not be corrected acc the size of;

[0054] If it is not satisfied, the time t will be accelerated acc corrected to t acc =0.5t p ; Then judge the trajectory period t p and acceleration time t acc relationship; if t p acc , then the trajectory period t p corrected to t p = 2t acc ;At this time, the planning method 4 will be selected to calculate the specific values ​​of the position, velocity and acceleration of the desired trajectory;

[0055] Step 4 (2), if the trajectory period t p Belongs to the 2nd) interval, namely 8τ d ≥t p >6τ d , then judge the acceleration time t acc whether it satisfies t acc >3τ d I...

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Abstract

The invention discloses a space robot jitter suppression trajectory planning method based on accelerated speed dynamic configuration, and belongs to the technical field of robot jitter suppression. The method aims at solving the problems that an existing robot system is prone to residual jitter, tracing accuracy is not high, and a robot can not be accurately positioned; the robot is not stable in the operation process; task execution time of the robot is prolonged due to time delay; the calculated amount is large, and the requirement for operational capacity of a controller of the robot is high. The method includes the steps that the minimum execution cycle of a trajectory section is estimated according to input expected displacement and the maximum accelerated speed limit; a finial trajectory cycle is determined according to the calculated minimum execution cycle and a given trajectory cycle; a minimum-order jitter cycle, of a robot system, determined at an initial joint angle is calculated according to kinetic and dynamic parameters of the robot and robot joint rigidity parameters; a corresponding trajectory planning method is selected according to the trajectory cycle, accelerated speed time and the jitter cycle. The method is suitable for the field of robot jitter suppression.

Description

technical field [0001] The invention relates to a space robot shake suppression trajectory planning method based on acceleration dynamic configuration, and belongs to the technical field of robot shake suppression. Background technique [0002] With the development of aerospace technology in various countries, space robots will play an increasingly important role in future space operations. In addition to the strict requirements on the reliability of the hardware system, the space robot also puts forward high requirements on its planning and control methods. Compared with traditional ground robots, the control and planning of general space robots mainly have the following difficulties: 1) Space robots have strong structural flexibility, and the free-floating characteristics of space robot carriers (or bases) make space robots not only Gentle jitter is generated, and the disturbance to its carrier will cause obvious changes in the carrier's pose, which will seriously affect ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 刘业超夏进军刘宏赵京东倪风雷
Owner HARBIN INST OF TECH
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