Collaborative path planning method for kinematic redundant two-arm space robot

A space robot and path planning technology, which is applied to aircraft, manipulators, motor vehicles, etc.

Active Publication Date: 2019-08-09
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in the above existing methods, the extra arm is mainly used to control the attitude of the base, and the problem of the coordinated movement of the multi-arm space robot to capture the target has not been reasonably solved.

Method used

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  • Collaborative path planning method for kinematic redundant two-arm space robot
  • Collaborative path planning method for kinematic redundant two-arm space robot
  • Collaborative path planning method for kinematic redundant two-arm space robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0146] Only the arms move, and the end effectors a and b arrive at the capture point from the initial position; where the initial position is:

[0147]

[0148]

[0149]

[0150] The terminal locations are:

[0151]

[0152] For simulation results see Figure 3-6 , through the velocity and acceleration boundaries, it can be determined that the execution time is T=14s. It can be seen from the simulation results that the designed end-effector path conforms to the proposed constraints and can complete the proposed capture task. When the cooperative trajectory planning strategy is not considered, see Figure 7-12 , it can be seen that both arms can perform the tracking task regardless of zero-space motion. Pedestal attitude and position are affected. The largest attitude and position perturbations reach 0.34° and 0.63m.

Embodiment 2

[0154] Drive the dual-arm end effector to the target capture point in Example 1 while minimizing the disturbance of the base attitude.

[0155] choose ω b = 0 and As dependent on speed. see Figure 13-18 , showing the trajectory tracking results of a zero-response manipulator. It can be noticed that the attitude disturbance of the base is O(10 -4 ), ensuring the unresponsive manipulator arm of the dual-arm space robot. The orientation deviation of the end effector caused by suppressing the attitude disturbance of the base is less than 0.05°. Simulation results demonstrate the effectiveness of the collaborative path planning strategy.

Embodiment 3

[0157] Drive the end effector of both arms to reach the target capture point in Example 1, and adjust the posture position of the base at the same time. In this simulation, the base pose is required to change from the initial reached terminal value degree, the base position is free. For simulation results see Figure 19-24 , it can be seen that the end effector can reach the capture point of the on-orbit target at the required speed. The direction tracking deviation of the end effector is less than 0.3°. The simulation results show that it is feasible and effective to adjust the attitude of the base by using the path coordination of the two arms. From the above three examples, it can be seen that the collaborative path planning method proposed by the present invention can complete the capture task of the end effector while ensuring the minimum attitude disturbance of the base or adjusting the attitude of the base.

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Abstract

The invention discloses a collaborative path planning method for a kinematic redundant two-arm space robot. The collaborative path planning method for the kinematic redundant two-arm space robot comprises the following steps that a dynamic equation and a kinematic equation of a space robot system are established; a redundant solution of an inverse kinematics equation of an end-effector is solved,and a system non-holonomic constraint equation is obtained through a momentum conservation equation; a task space constraint equation of the relationship between the end-effector motion and the attitude of a base is obtained through the system non-holonomic constraint equation; the path planning of the end-effector in a task space is obtained by using a quintic bezier curve, and path execution time is determined by the velocity and acceleration boundary of the end-effector; and the joint motion trajectory planning corresponding to different task priorities is obtained through the end-effectormotion equation and the task space constraint equation. The collaborative path planning method of the space two-arm robot is implemented, various tasks can be performed according to the priorities ofthe tasks such as a multi-arm collaborative task and a dynamic balancing task, and the operation ability of a space manipulator is greatly expanded.

Description

technical field [0001] The invention belongs to the technical field of path planning of a dual-arm space robot, and relates to a collaborative path planning method for a kinematic redundant dual-arm space robot. Background technique [0002] The space robot consists of a free-floating base and a robotic arm. When performing on-orbit tasks, due to the dynamic coupling characteristics of the base and the manipulator, the operation of the manipulator and the rotation mechanism installed on the spacecraft will cause the attitude disturbance of the base. The limited fuel is mainly used for orbit transfer maneuvers, and basically no fuel is used to suppress the attitude disturbance of the base. Therefore, how to fully explore the application of dynamic coupling effects in adjusting the attitude of the base has attracted extensive attention. [0003] At present, many methods and strategies have been proposed for the minimization of attitude disturbance of free-floating space robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/24B25J9/16B25J11/00
CPCB64G1/242B25J9/16B25J9/1682B25J9/1664B25J11/00B64G1/245
Inventor 王明明罗建军袁建平朱战霞
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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