Joint locking failure space manipulator halt optimizing method

Abstract

The invention provides a joint locking failure space manipulator halt optimizing method which comprises the following steps: according to all exercise capacity indicators after standardized processingof a joint locking failure space manipulator, and based on an improved analytic hierarchy process and an entropy method, solving the weight of all exercise capacity indicators to realize comprehensive characterization of exercise capacity of the manipulator, constructing a preferable model of a joint locking failure space manipulator halt configuration, further solving a preferable model of the halt configuration based on the Monte Carlo numerical method, obtaining the optimal halt configuration of the joint locking failure manipulator, then, carrying out motion planning on the manipulator based on a sextic polynomial by taking the halt movement characteristics into consideration, further taking the safety and stability of the manipulator into consideration during the halt process, constructing and solving a space manipulator halt movement optimization model, and finishing halt optimization of the joint locking failure space manipulator. According to the technical scheme, safe and stable halt of the joint locking failure space manipulator can be realized.

Description

【Technical field】 [0001] The invention relates to a method for optimizing the shutdown of a mechanical arm in a joint-locking fault space, and belongs to the field of motion optimization for a mechanical arm at shutdown. 【Background technique】 [0002] The strategic status of space in military, political, livelihood, economic and other aspects has prompted countries all over the world to pay more and more attention to space exploration. With the continuous deepening of human exploration of space, space manipulators with the characteristics of large span, flexible operation, and strong load capacity have become more and more widely used. However, the harsh space environment, heavy operating tasks, and complex joint structure make it very likely that the space manipulator will fail to lock the joints during its long-term service, and usually cannot be repaired in time. At this time, if the manipulator is controlled to continue to move according to the original task requiremen...

AI Technical Summary

Problems solved by technology

Existing studies on the optimization of the stoppage of the manipulator in the joint-locking fault space do not consider whether the motion capability of the configuration of the manipulator after the stoppage meets the requirements of subsequent tasks. The situation required by the task; the existing research on the motion optimization of the joint-locking failure manipulator does not consider the characteristics of the floating base of the space manipulator, and the excessive disturbance torque of the base during the shutdown process will cause the manipulator to lose control, which seriously threatens the safety of the space manipulator reliable operation

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