Coordinated trajectory control method, system and equipment based on robot, and storage medium

Abstract

The invention discloses a coordinated trajectory control method based on a dual-arm space robot. The coordinated trajectory control method based on the dual-arm space robot comprises the following steps of acquiring a relative pose deviation between a tail end point and a capture point of each mechanical arm; judging whether a capture condition is met or not according to the relative pose deviations; if the capture condition is met, capturing a tumbling target; if the capture condition is not met, obtaining estimated linear speed and angular speed of the tumbling target according to the relative pose deviations; planning linear speeds and angular speeds of the tail ends of double arms according to a speed decomposition method; obtaining expected joint angular speeds of the tail ends of themechanical arms; and driving various joints of the double arms to move so as to capture the tumbling target. The invention relates to coordinated trajectory control system and equipment based on thedual-arm space robot, and a readable storage medium. The aim of effectively capturing a non-cooperative target in the unknown space is achieved. Compared with the prior art, the trajectory control accuracy is improved, meanwhile, the target capturing efficiency is further improved, and the coordinated trajectory control method, the system and the equipment based on the dual-arm space robot and thereadable storage medium can be widely applied to the field of space robot control.

Description

technical field [0001] The invention relates to the field of space robot control, in particular to a coordinated trajectory control method, system, device and readable storage medium based on a dual-arm space robot. Background technique [0002] With the continuous deepening of space exploration, there are more and more space failure / out-of-control spacecraft, how to ensure the normal operation of spacecraft in orbit has become the focus of aerospace science and technology. Since space failure spacecraft are mostly in rollover state and produce irregular motion, this has caused great obstacles to visual measurement and space capture operations. [0003] The speed of image processing in the process of visual measurement of space tumbling targets is limited by CPU calculations. At the same time, the output frequency of measurement results is not very high, so that the given visual measurement information is often inconsistent with the current state of motion of the tumbling ta...

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