Task programming method utilizing kinetics solution by super redundant space robot
A technology of robot kinematics and space robots, applied in motor vehicles, aircraft, transportation and packaging, etc., can solve problems such as complex and changeable ridge curves, inability to fully and accurately express super-redundant manipulator models, etc.
Inactive Publication Date: 2017-12-15
NORTHWESTERN POLYTECHNICAL UNIV
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But the disadvantage of this is obvious. On the one hand, the ridge modulus function is a piecewise continuous curve, which cannot fully and accurately describe the corresponding super-redundant manipulator model; The relationship between the line parameter and the position of the end point can be taken in many ways, which leads to a complex and changeable ridge curve.
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[0067] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:
[0068] The key technical scheme adopted in the present invention comprises the following steps:
[0069] 1) Analyze the kinematics model of the hyper-redundant space robot, and divide the joints.
[0070] 2) Compared with the traditional ridge pattern method, an improved spatial ridge curve fitting method is proposed.
[0071] 3) Solve the inverse kinematics method based on the improved modular function.
[0072] like figure 1 , a super-redundant space robot has n degrees of freedom, that is, M (n=2M) joints. For the convenience of research, two adjacent universal joints are defined as a group, that is, a group has 4 degrees of freedom, Therefore, all gimbals can be divided into N=n / 4 groups. In this way, the manipulator of the hyper-redundant space robot can be divided into N sub-manipulators, and each sub-manipulator has 4 degrees of freedom. If N is not a...
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The invention relates to a task programming method utilizing kinetics solution by a super redundant space robot, analyzes a super redundant space robot kinetics model, carries out joint division and solves a reverse kinetics model based on an improved mode function. Compared with the prior art, the method is advantaged in that 1, a direction vector k is introduced, arranging the last universal joint on a ridge line is made to be unnecessary, and the direction can be made to be consistent with a tail-end performer; 2, the position of even-number universal joints is parameterized through an arm type angle psii, so arranging the even-number universal joints on the ridge line is unnecessary, and the position can be optimized through utilizing the arm type angle; and 3, equivalent member lengths of two adjacent odd-number joints can be parameterized through utilizing rhoi, so arranging each odd-number universal joint on the ridge line is unnecessary, and a kinetics equation can be determined through adjusting parameters of equivalent members.
Description
technical field [0001] The invention belongs to the field of remote operation of space robots, and relates to a method for super-redundant space robots to use kinematics solutions for task planning. Background technique [0002] The on-orbit service technology of space teleoperation based on space station construction, maintenance, control, and orbital garbage and debris cleaning, as well as attack behaviors such as arresting, capturing, and even destroying enemy spacecraft, will face a messy orbital environment and Multiple difficult obstacle situations to avoid. Because ordinary 6-DOF manipulators are difficult to complete these tasks, a super-redundant manipulator with extreme flexibility must be used for manipulation, which can enter small spaces for inspection, assembly and maintenance of key components. Therefore, a fast and accurate method for solving the kinematics of super-redundant manipulators is of great significance for teleoperation mission planning. [0003]...
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CPCB64G1/244
Inventor黄攀峰程瑞洲刘正雄孟中杰张夷斋张帆
OwnerNORTHWESTERN POLYTECHNICAL UNIV