A Space Robot Collision Avoidance Method Based on Multiple Control Points

Abstract

The invention provides a space robot collision avoidance method based on multiple control points. During path planning, the angular velocity of a joint of a mechanical arm is smooth, discontinuity of the angular velocity of the joint of the mechanical arm is avoided, and the vibration problem caused by jumping of a single control point can be restrained. The space robot collision avoidance method based on the multiple control points comprises the steps that (1) an obstacle is processed into a non-convex polyhedron composed of triangular faces, the mechanical arm is processed into line segments, the collision detection algorithm between the describing line segments and the describing triangles is determined, and a pair of control points, with the shortest distance, between the mechanical arm and the obstacle are obtained; (2) a multi-mask kinematical equation considering the collision avoidance tasks of the space robot is established; (3) the collision avoidance constraint conditions of the space robot are established, and collision avoidance solving is conducted through the combination with the kinematical equation in the step (2); (4) according to the parameter design of the multiple control points, the parameters of a new control point are adjusted, and collision avoidance solving is conducted through the combination with the kinematical equation in the (2); and (5) according to the collision avoidance solution, to one obstacle, of the multiple control points, multiple-obstacle collision avoidance control is conducted on the mechanical arm of the space robot.

Description

technical field [0001] The invention relates to a collision avoidance technology when space robots perform tasks, in particular to a space robot collision avoidance method based on multiple control points. Background technique [0002] The increasing demand for satellite maintenance, on-orbit assembly, and space debris removal requires space robots to perform tasks in specific harsh space environments. Specific examples include "Robot Technology Test (ROTEX)", "Engineering Test Satellite VII (ETS-VII)", "Orbital Express (OE)" and so on. According to the space robots currently planned by various space agencies in the world, the increase in the number and performance of robots in space missions is a foregone conclusion in the future. In order to efficiently perform multiple tasks, researchers mainly focus on the problem of motion control of space robots in workspaces with obstacles. Due to the uncertainty of the space environment, online collision avoidance planning and cont...

AI Technical Summary

Problems solved by technology

However, this method has a complex constraint process and greatly increases the amount of calculation

Images