全程恒定基座姿态零扰动的空间机械臂轨迹规划

本文研究了全程恒定基座姿态零扰动的自由漂浮空间机器人(FFSR)末端位姿轨迹规划的问题。针对无运动学冗余自由度的三关节平面FFSR系统,首先建立了其末端位姿与关节角之间的状态变换关系,然后给出了以基座姿态和关节角为状态变量的系统方程。根据该系统方程,利用非线性系统的可控性判据证明了在保证全程恒定基座姿态零扰动的前提下,对FFSR系统的末端位置和姿态同时作轨迹规划的可行性;再利用最优控制策略,将轨迹规划问题转换为最优控制问题,设计了一种全程恒定基座姿态零扰动的末端位姿轨迹规划方法。数值仿真验证了结论的正确性和设计方法的有效性。

Trajectory planning of a space manipulator with constant zero-disturbance to base attitude

The end effector's position & attitude trajectory planning of a free-floating space robot (FFSR) with constant zero-disturbance to the base attitude was investigated.For a kinematically non-redundant threedegree-of-freedom FFSR,a state transformation between the position & attitude of the end effector and the joint angles was deduced,and then the system equations using the base attitude and joint angles as state variables was presented.According to the system equations,the feasibility of the constant zero-disturbance path planning of the end effector's position & attitude was proved via the controllability condition of a nonlinear system,and then a constant zero-disturbance path planning algorithm was developed by an optimal control strategy.Numerical examples validate the effectiveness of the proposed feasibility conclusion and the path planning algorithm.