Multi-constraint locus planning method of spatial free floating mechanical arm

Abstract

The invention provides a multi-constraint locus planning method of a spatial free floating mechanical arm. The method can satisfy requirements for dynamic coupling, joint driving capability limitation, arresting opportunity and multiple optimizing indexes of a spatial robot. A driving joint motor realizes an autonomous arresting task to a non-cooperative object. The multi-constraint locus planning method comprises the steps of establishing a multi-member dynamic model of the spatial robot; establishing the locus of each joint of the mechanical arm based on a Bessel curve, converting constraint and optimizing index functions in a joint locus designing process to function of a Bezier curve control point, so that locus programming is finally represented by the Bezier curve control points as a nonlinear optimization problem of the optimizing parameter; converting the locus planning problem of the spatial robot to a multi-constraint and multi-object optimization problem, performing searching on the optimization problem by means of a nonlinear optimization method, obtaining an optimal solution, and finishing multi-constraint locus planning of the spatial free floating mechanical arm.

Description

technical field [0001] The invention relates to the trajectory planning technology of a space robot, in particular to a multi-constraint trajectory planning method for a space free-floating manipulator. Background technique [0002] The safe and reliable capture of space targets is a prerequisite for the subsequent execution of spacecraft on-orbit maintenance, on-orbit refueling, on-orbit manufacturing, and on-orbit maintenance. performance, and building new space vehicles. Statistics show that, through ROTEX, ETS-VII, OE, DEOS, FREND and other projects, foreign space agencies have completed technical verifications such as rapid autonomous rendezvous with space cooperation targets, short-distance formation flight, and use of robotic arms to capture cooperation targets. However, for non-cooperative targets in space, since their motion state and mass characteristics are unknown and there is no standard interface for capture and docking, the difficulty of capture and docking o...

AI Technical Summary

Problems solved by technology

Regarding the timing of capture, the above studies all directly give the execution time of trajectory planning, and fail to fully consider the ability of the joints of the manipulator.

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