柔性臂空间机器人的一类运动学方程及轨迹规划

用柔性机械臂连杆末端的弹性变形以及变形角度来表示空间机器人柔性臂的弹性运动变量,克服了用无穷维振动模态变量来表示弹性变形给系统运动学建模带来的困难;基于广义雅可比矩阵的思想,建立了柔性臂空间机器人"双广义雅可比矩阵"形式的运动学模型,该运动学模型描述了柔性臂弹性变形对空间机器人的运动影响;以运动学方程为基础,设计了柔性臂空间机器人的惯性空间内连续轨迹规划算法。仿真表明,规划的机械臂关节运动规律可以补偿柔性连杆振动给机械臂末端位置带来的影响,使机械臂末端位置准确沿着期望的轨迹运动。

A Kinematics Equation and Trajectory Planning of Flexible Arm Space Robot

In this paper, the elastic variable of space robot flexible arms was denoted with the flexible arm link end deformation and deformation angle, overcoming the difficulty which might be brought by infinite dimensional vibration modality variable of flexible arm in modeling system kinematics. Based on the generalized Jacobian matrix, the kinematics equation of flexible arm space robot was established in the form of dual-generalized Jacobian matrix, which illuminated the impact that elastic deformation of flexible arm took upon space robot. Continuous trajectory planning algorithm of flexible arm space robot in inertial space reference system was designed based on the kinematic equation. The simulation showed that planned rotary movement law of space robot arm joints might compensate for the impact that vibration of space robot flexible links gave to the end position of space robot arms, and ensure the end of space robot arms along the expected trajectory.