Accelerated speed optimal space robot online track planning method based on control period self-adaptive clock synchronization

A space robot and trajectory planning technology, applied in attitude control and other directions, can solve the problems of unstable robot and drastic changes in acceleration, achieve the effect of small calculation amount, reduce flexible jitter, and improve tracking accuracy

Active Publication Date: 2014-09-03
HARBIN INST OF TECH
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  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of instability in the motion process of the robot caused by the asynchronous clocks of the upper and lower computers and the drastic changes in the traj

Method used

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  • Accelerated speed optimal space robot online track planning method based on control period self-adaptive clock synchronization
  • Accelerated speed optimal space robot online track planning method based on control period self-adaptive clock synchronization
  • Accelerated speed optimal space robot online track planning method based on control period self-adaptive clock synchronization

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specific Embodiment approach 1

[0024] Specific implementation mode 1: An online trajectory planning method for an acceleration-optimized space robot based on control cycle adaptive clock synchronization in this implementation mode includes the following steps:

[0025] Step 1. Establish a mathematical model of the space robot joint trajectory curve position, velocity and acceleration with optimal acceleration within a trajectory segment planning period, and obtain the joint trajectory equation;

[0026] Step 2. According to the continuity condition of the joint trajectory interpolation, obtain the parameters in the joint trajectory equation in the step 1, and carry out the continuous planning of the joint space trajectory;

[0027] Step 3: Perform synchronous control on the basis of continuous planning of the joint space trajectory, that is, complete an online trajectory planning method for an acceleration-optimized space robot based on control period adaptive clock synchronization.

[0028] The effect of t...

specific Embodiment approach 2

[0034] Specific embodiment two: the difference between this embodiment and specific embodiment one is: said step one establishes the mathematical model of the robot trajectory curve position, velocity and acceleration with optimal acceleration in a trajectory segment planning period, specifically:

[0035] In a joint trajectory planning cycle t p In , if the acceleration is optimal, the acceleration is selected as a constant value, the velocity trajectory is a linear function of time, and the highest degree of position trajectory is a quadratic function of time, namely:

[0036] y(t)=a 0 +a 1 t+a 2 t 2 (1)

[0037] v ( t ) = y · ( t ) = a 1 + 2 a 2 t - - - ...

specific Embodiment approach 3

[0041] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: said step two is based on the continuity condition of joint trajectory interpolation, and obtains the parameters in the joint trajectory equation in step one:

[0042]Assume that at the current moment, the trajectory just passes through point A and moves to point B, which happens to be the beginning of the transition trajectory segment from point B to point C, where point A is the initial position of the joint at the initial moment of joint trajectory planning, B and C is the expected position point at the adjacent moment of the joint, defined, △B=A-B, △C=C-B, then it can be obtained from the continuity of the position and velocity trajectory:

[0043] y ( - t 1 ...

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Abstract

The invention relates to an accelerated speed optimal space robot online track planning method based on control period self-adaptive clock synchronization. The method aims at solving the problem that a robot is not stable in the motion process due to asynchronization of clocks of an upper computer and a lower computer in space robot control and the intense change of the accelerated speed of the track of a joint layer. The method includes the steps that firstly, mathematic models of the joint track curve position, the speed and the accelerated speed of the space robot with the optimal accelerated speed within a track segment planning period are established and a joint track equation is obtained; secondly, according to the continuity condition of joint track interpolation, parameters in the joint track equation in the first step are obtained, and a joint space track is continuously planned; thirdly, on the basis that the joint space track is continuously planned, synchronous control is conducted. The method is applied to the robot control field.

Description

technical field [0001] The invention relates to an online trajectory planning method for an acceleration-optimized space robot based on control cycle self-adaptive clock synchronization. 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 the pose accuracy of the spa...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 刘业超夏进军倪风雷金明河
Owner HARBIN INST OF TECH
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