Intelligent planning method for obstacle avoidance and target grabbing of SMA driving space robotic arm

Abstract

The invention provides an intelligent planning method for obstacle avoidance and target grabbing of an SMA driving space robotic arm. The intelligent planning method comprises the following steps: construction: constructing a target optimization function based on constitutive parameters of each joint spring; constraint: respectively establishing a constraint condition of joint spring deformation, a constraint condition of a distance between the tail end position of the flexible robotic arm and a target position, and an obstacle avoidance constraint condition of a space obstacle; target optimization function: calculating the target optimization function based on a genetic algorithm of nonlinear programming and the constraint conditions; intelligent optimization: searching an optimal solution of the target optimization function; and dichotomy: judging the state that the solution domain is empty based on dichotomy, updating the initial position, and finally obtaining the expected pose of each platform of the flexible robotic arm and the expected length of each joint spring. The intelligent planning method can effectively solve the technical problem that in the prior art, a space flexible robotic arm is difficult to accurately and reasonably perform obstacle avoidance, target grabbing and space debris cleaning in real time.

Description

technical field [0001] The present invention relates to the technical field of space flexible robotic arm control, in particular, to an intelligent planning method for obstacle avoidance and target grasping of space flexible robotic arm driven by SMA springs, especially to an SMA-driven space robotic arm obstacle avoidance and target grasping method intelligent planning method. Background technique [0002] Space flexible robots have high flexibility, complex environment adaptability and safety of human-computer interaction, which make up for the shortcomings of traditional robots. More than 17,000 pieces of space junk are floating in space. These debris have brought huge risks to communication satellites and manned space missions. How to effectively avoid obstacles and achieve target capture is an urgent problem to empty space junk. However, it is not an easy task to reasonably plan obstacle avoidance and target capture. The main difficulties lie in: [0003] 1. Highly no...

AI Technical Summary

Problems solved by technology

[0004]Because the soft robot contains flexible materials, the relationship between its deformation, moving distance, offset angle and input is nonlinear, and the conventional linear analysis and control method It is not suitable for flexible robots. At the same time, flexible robots can be bent with high curvature or twisted with large deformation. In theory, they have infinite degrees of freedom. The process of model establishment and solution is more difficult;

[0005]2. Interaction complexity between spacecraft and flexible robot arm

[0007]3. The complexity of the space environment

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