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Moving trajectory planning method for space moving multi-arm robot

A technology of moving trajectory and space movement, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of ensuring safety, simple moving process, and simplified calculation process

Active Publication Date: 2016-11-30
BEIJING INST OF CONTROL ENG
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AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a moving track planning method for a space mobile multi-arm robot, and solve the problem that multiple mechanical Arm movement trajectory planning problem

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  • Moving trajectory planning method for space moving multi-arm robot

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Embodiment Construction

[0032] The invention provides a moving track planning method for a space mobile multi-arm robot, which can effectively plan the trajectory of the space mobile multi-arm robot on the surface of a large spacecraft, and ensure the safety of the space mobile multi-arm robot in the orbital operation process In addition, the trajectory planning method proposed by the present invention can be applied to the task design of all space mobile multi-arm robots in the future. The proposed scheme is feasible and easy to promote; the collision detection proposed by the present invention is also applicable to any Therefore, it has a wide range of applications, has great market competitiveness and first-mover advantages, fills the gaps in practical solutions and theoretical research content in related fields, and has strong engineering practical and theoretical guiding significance.

[0033] Taking a certain moving step as an example, the specific steps of the method for planning the moving tra...

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Abstract

Provided is a moving trajectory planning method for a space moving multi-arm robot. The moving trajectory planning method includes that firstly, according to the specific position transfer task of the space moving multi-arm robot, the position to be reached by the two ends of a first robot arm and the position to be reached by the two ends of a second robot arm are determined; the moving trajectories of the two ends of the first robot arm and the moving trajectories of the two ends of the second robot arm are calculated based on a quintic polynomial planning method; the moving trajectories of the joints of the first robot arm and the moving trajectories of the joints of the second robot arm are calculated according to the kinematic equation of the robot arms to determine the moving trajectory of the space moving multi-arm robot; and a collision detection algorithm is designed to detect the collision safety between the robot arms and a robot platform, between the robot arms and a target spacecraft, and between the robot arms during the movement of the robot.

Description

technical field [0001] The invention relates to a moving track planning method for a space mobile multi-arm robot, belonging to the technical field of robot track planning. Background technique [0002] With the development of the aerospace industry, the scale of spacecraft is increasing day by day. Spacecraft similar to large space stations and large high-orbit communication satellites are widely used. The size of these spacecraft can usually reach the order of tens of meters or even hundreds of meters. On-orbit assembly, maintenance, repair, and component replacement of such spacecraft require stronger space on-orbit service capabilities. [0003] The current on-orbit maintenance is usually completed by astronauts going out of the cabin, which increases the complexity and risk of the mission and increases the mission cost. Therefore, the study of space robots with on-orbit service capabilities has become a research hotspot in various space powers. For example, missions su...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1666
Inventor 汤亮张海博何英姿胡权张军王勇
Owner BEIJING INST OF CONTROL ENG
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