| 刚柔混合双臂空间机器人抓持－操作协同规划 |
| |
| 引用本文： | 胡忠华,徐文福,杨太玮,梁斌.刚柔混合双臂空间机器人抓持－操作协同规划[J].宇航学报,2022,43(10):1311-1321. |
| |
| 作者姓名： | 胡忠华 徐文福 杨太玮 梁斌 |
| |
| 作者单位： | 1. 聊城大学, 聊城 252000; 2. 哈尔滨工业大学(深圳)，深圳 518055; 3. 清华大学，北京 100084 |
| |
| 基金项目： | 国家重点研发计划（2018YFB1304600）；深圳市杰出青年基础研究（RCJC20200714114436040） |
| |
| 摘 要： | 针对狭小空间内的在轨维修操作，提出了一种基于受限空间可操作度优化的刚柔混合双臂协调轨迹规划方法。根据绳驱柔性臂的结构特性对其进行运动学等效，并完成了刚柔混合双臂等效运动学模型的建立，得到基座漂浮状态下的广义雅可比矩阵以及对应的零空间投影矩阵。以任务操作方向上的可操作度为优化指标，通过零空间投影矩阵建立优化函数方程；同时基于分解运动速度控制，通过广义雅可比矩阵实现末端速度空间到关节速度空间的映射，实现了混合双臂抓持-操作目标的同步运动控制。最后，开发了基于联合仿真软件的混合双臂联合仿真系统，仿真结果验证了上述方法的有效性。
|
| 关 键 词： | 空间机器人 协同路径规划 可操作度 |
| 收稿时间： | 2022-03-02 |
Coordinated Grasp and Operation Planning for Hybrid Rigid flexible Dual arm Space Robot |
| |
| HU Zhonghua,XU Wenfu,YANG Taiwei,LIANG Bin.Coordinated Grasp and Operation Planning for Hybrid Rigid flexible Dual arm Space Robot[J].Journal of Astronautics,2022,43(10):1311-1321. |
| |
| Authors: | HU Zhonghua XU Wenfu YANG Taiwei LIANG Bin |
| |
| Affiliation: | 1. Liaocheng University, Liaocheng 252000, China; 2. Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China; 3. Tsinghua University, Beijing 100084, China |
| |
| Abstract: | For on orbit maintenance operations in confined space, a rigid flexible hybrid dual arm coordinated path planning method based on maneuverability optimization is proposed. According to the structural characteristic of the cable driven flexible arm, the equivalent kinematic model of the rigid and flexible arms is established, and the generalized Jacobian (GJ) matrix and the corresponding null space projection matrix (NSPM) are derived under the condition of a free floating base.Based on NSPM, the optimization function is obtained by using the manipulability in the direction of task operation as the optimization index. Meanwhile, according to the resolved motion rate control, the capture operation coordination motion of hybrid two arm can be implemented by GJ. A co simulation system is designed and the numerical simulation is carried out. The simulation results demonstrate the proposed method. |
| |
| Keywords: | Space robot Coordinated path planning Manipulability |
|
| 点击此处可从《宇航学报》浏览原始摘要信息 |
|
点击此处可从《宇航学报》下载全文 |
|
