Planar three-degrees-of-freedom space robot inverse kinematics solution method

Abstract

The invention provides a planar three-degrees-of-freedom space robot inverse kinematics solution method. First, a general planar three-degrees-of-freedom space robot is equivalent to a ground fixed base robot using a virtual mechanical arm method; then, the self-motion characteristics of the planar three-degrees-of-freedom space robot are analyzed, and the geometric relational expression between joint angles of the equivalent space robot is deduced under the condition that the initial base attitude angle and the end manipulator position are given; and finally, all combinations composed of three joint angles, namely, all kinematics inverse solutions, are obtained. Through the method, all kinematics inverse solutions can be calculated out simply and efficiently under the condition that the position of an end manipulator of a planar three-degrees-of-freedom redundant space robot is given, and thus, robot path planning problems related to obstacle avoidance, singular avoidance, joint limit avoidance and other optimization indexes can be studied.

Description

technical field [0001] The invention relates to a method for solving inverse kinematics of a space robot, which belongs to the field of robot path planning. Background technique [0002] In recent years, with the advancement of space science and technology, the exploration of unknown stars and the development of outer space resources have become an important direction for the development of human civilization. As a result, more and more space missions need to be completed, such as the establishment and maintenance of space stations, the recovery of faulty satellites, scientific experiments in the space environment, and the cleaning of space junk, etc. It is impossible for astronauts to perform difficult space missions in such a harsh environment. Therefore, it has become an inevitable trend to replace astronauts with space robots to complete space tasks. In order to optimize the kinematics of space robots, space robots with redundant degrees of freedom are generally used, ...

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Problems solved by technology

Most of the above methods are based on certain optimization criteria to narrow the range of inverse solutions for redundant robots, and then obtain the desired inverse solutions through numerical methods. These algorithms are generally not global, and the calculation takes a long time, which cannot meet the needs of robot control. speedy requirements

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