Method for planning coordinated path of dual-arm space robot based on random sampling

Abstract

The invention relates to a method for planning a coordinated path of a dual-arm space robot based on random sampling. According to the method, an initial feasible path of a dual-arm end effector in aCartesian space is planned through an RRT* algorithm, the initial path generated by the RRT* algorithm is smoothed by utilizing four splines, and a smooth path suitable for robot execution is obtainedby first-order, second-order and third-order differential continuous constraints satisfying the splines and the initial speed, end speed and acceleration constraints of the end effector of a mechanical arm. The method has the beneficial effects that the safe and feasible initial path of the tail end is quickly generated in an unstructured environment by utilizing the RRT* algorithm, the initial path generated by the RRT* is smoothed by utilizing four splines, the robot is ensured to execute the planned path in a good state, and the physical limit constraint of the mechanical arm is considered. A simulation result illustrates the effectiveness of the proposed coordinated path planning method. The method has important significance on motion planning of the mechanical arm, especially on capture path planning for a failed satellite.

Description

technical field [0001] The invention belongs to a space robot coordination path planning method, and relates to a random sampling-based dual-arm space robot coordination path planning method. Background technique [0002] With the increasing demand for on-orbit maintenance, space assembly and other tasks, space robot technology has been verified as one of the most effective means to perform tasks in special and harsh space environments. Typical examples are "Engineering Test Satellite VII (ETS-VII)" and "Orbit Express (OE)". One of the most challenging tasks in the on-orbit service of space robots is the problem of motion planning during the capture process. A variety of space robot motion planning methods have been proposed in the past literature. Based on the zero action space, Yoshida et al. proposed a non-reaction manipulator, which solved the problem of kinematics non-redundant arm and redundant arm time loss and the speed limit of the manipulator. Based on the conce...

AI Technical Summary

Problems solved by technology

Based on the zero-action space, Yoshida et al. proposed a non-reaction manipulator, which solved the kinematic non-redundant arm and redundant arm time loss and the speed limit of the manipulator.

Images