Mechanical arm track planning method considering spacecraft body attitude motion

Abstract

The invention discloses a mechanical arm track planning method considering spacecraft body attitude motion, and belongs to the field of track planning of multi-body systems. The robot arm track planning method considering the spacecraft body attitude motion comprises the specific steps that firstly, under the initial state of a spacecraft, the position of the tail end of a mechanical arm and the change track of the attitude orientation are determined through a quintic polynomial path planning method; according to the planning of the attitude motion of a spacecraft center body, a original expected position and the change amount of the orientation under a spacecraft body coordinate system due to the attitude motion of the center body are obtained so as to compensate the motion planning of the mechanical arm; original track planning of the tail end of the mechanical arm and the compensation planning are correspondingly summed and recorded as the tail end point track of the mechanical arm,and the motion track of each joint angle of the mechanical arm is planned through a kinematic pseudo-inverse algorithm, so that the mechanical arm track planning considering the spacecraft body attitude motion is achieved. The robot arm track planning method considering the spacecraft body attitude motion has the advantages of reducing the real-time calculation pressure of an on-board computer, improving the track planning efficiency and the like.

Description

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine

Login to view more

AI Technical Summary

Benefits of technology

In this patented technology for managing movements during flight (space) operations, there is an improved way that can track changes along different directions without recalculating all possible positions or adjusting any other parts of the aircraft's structure. It uses special algorithms called pseudorandomized inverse dynamics simulation (PIDS), which helps reduce calculations time while still maintaining accuracy.

Problems solved by technology

This patented technical problem addressed during mission operations involves how to efficiently track an object's movements caused by gravity or other forces acting upon its own mass without adding extra weight or complexity. Existing methods involve either closed loop tracking algorithms (CLT) which require measurements from sensors attached to specific parts of the robot itself), or open-Loop techniques such as Kalman filtering.

Images