Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A trajectory planning method for space mobile multi-arm robot

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

Active Publication Date: 2018-09-18
BEIJING INST OF CONTROL ENG
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A trajectory planning method for space mobile multi-arm robot
  • A trajectory planning method for space mobile multi-arm robot
  • A trajectory planning method for space mobile multi-arm robot

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com