空间机器人抓捕目标星碰撞前构型优化

空间双臂机器人抓捕目标星会导致碰撞，针对碰撞引起机器人系统基座姿态变化的问题，提出一种基于粒子群算法的碰撞前构型优化方法。该方法首先给出了碰撞前和碰撞后的动力学模型，然后根据冲量-动量方程推导出碰撞阶段动力学方程，最后提出基于粒子群算法的最优碰撞前构型规划数值方法，使碰撞对机器人系统角动量的影响尽量小。通过计算校验了该方法的有效性，找到了用于空间机器人抓捕目标星的较理想的碰撞前构型。

Pre Impact Configuration Optimization for a Space Robot Capturing Target Satellite

A method based on particle swarm optimizer is presented for the optimization the pre-impact configuration of a dual-arm space robot to minimize the changes of robot’s attitude. The dynamic equations of pre- and post-impact phases are firstly given, then the impact dynamic model is derived based on impulse-momentum equation, the objective function is the change of robot’s angular momentum caused by impacts. By use of the particle swarm optimizer, the pre-impact configure is calculated to minimize the effects of impacts on the robot’s angular momentum. An ideal pre-impact configuration is found. Numerical results show that the proposed method is useful and effective.