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

A space robot and path planning technology, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of manipulator speed limit, time loss, etc.

Active Publication Date: 2020-06-09
NORTHWESTERN POLYTECHNICAL UNIV
View PDF5 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for planning coordinated path of dual-arm space robot based on random sampling
  • Method for planning coordinated path of dual-arm space robot based on random sampling
  • Method for planning coordinated path of dual-arm space robot based on random sampling

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0051] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0052] The implementation of this invention mainly comprises following three steps:

[0053] Step 1. Kinematics modeling of the dual-arm space robot.

[0054] The dual-arm space robot system consists of a base and two n-degree-of-freedom robotic arms, with a total of 2n+1 rigid bodies, and the system is not affected by any external force. According to Poisson's formula, the kinematic equation of space robot is expressed as follows,

[0055]

[0056] Among them, superscripts a and b indicate that the variables belong to manipulators a and b, respectively. are the linear velocity and angular velocity vector of the base and the end effector, respectively, is the motion velocity of each manipulator joint. Unless otherwise specified, all vectors are expressed in the inertial coordinate system, and other symbols have been listed in Table 1.

[0057] According...

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

PUM

No PUM Login to view more

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...

Claims

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

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1682B25J9/1605
Inventor 王明明余敏罗建军马卫华朱战霞袁建平
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap