基于避障伪距离的自由漂浮空间机器人规划跟踪一体化控制

针对自由漂浮空间机器人(Free Floating Space Robot,FFSR)的避障规划与控制问题，提出一种FFSR的避障规划-跟踪一体化控制方法。首先，基于障碍物伪距离技术，采用FFSR逆几何模型求解期望末端位姿下的连杆伪距离估计值，进而通过求解非线性优化问题，获得FFSR避障期望轨迹。其次，将全局轨迹规划与局部在线避障相结合，辅以离散状态黎卡提方程（DSDRE）控制方法实现FFSR的避障规划-跟踪一体化控制。最后，采用6R空间机器人模型验证了所提方法的有效性。仿真结果表明，该方法能够实现FFSR的避障控制，有效克服了传统FFSR控制中末端轨迹规划与控制相分离的问题，提高了FFSR的环境适应性。

Trajectory Planning tracking Integrated Control for A 6R Free Floating Space Robot via Obstacle Avoidance Pseudo distance

Focusing on the obstacle avoidance planning and control problem of a free floating space robot (FFSR), an FFSR obstacle avoidance planning-tracking integrated control method is proposed. Firstly, based on the obstacle pseudo-distance technique, the FFSR inverse geometric model is used to solve the pseudo-distance estimation at the desired position and attitude of the FFSR’s effector. Then, the FFSR obstacle avoidance trajectory is obtained by solving the nonlinear optimization problem. Secondly, based on discrete state dependent Riccati equation (DSDRE) control method, the FFSR obstacle avoidance planning-tracking integration control can be achieved by the combination of the global trajectory planning and the local online obstacle avoidance. Finally, the effectiveness of the proposed method is verified by the 6R space robot model. The simulation results show that the obstacle avoidance control of FFSR can be realized by the proposed method, which can effectively overcome the problem of the separation of the trajectory planning and control in the traditional FFSR control and improve the environmental adaptability of the FFSR.