| 嫦娥三号月面巡视器机械臂就位探测规划 |
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| 引用本文： | 吴克,冷舒,李群智,申振荣,居鹤华.嫦娥三号月面巡视器机械臂就位探测规划[J].宇航学报,2015,36(4):375-382. |
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| 作者姓名： | 吴克 冷舒 李群智 申振荣 居鹤华 |
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| 作者单位： | 1．北京空间飞行器总体设计部，北京100094；2．北京工业大学电子信息与控制工程学院，北京100022 |
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| 基金项目： | 国家中长期科技发展规划重大专项资助项目 |
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| 摘 要： | 提出了一种基于SA *算法的嫦娥三号月面巡视器机械臂就位探测规划方法。建立了机械臂的正逆运动学模型，满足机械臂与环境不存在干涉的约束条件，并通过碰撞检测避免机械臂与环境和巡视器本体发生干涉；利用SA *算法在机械臂的工作空间进行搜索，在机械臂位形切换次数最少的优化条件下，实现了月面巡视器机械臂就位探测规划；通过月面巡视器在轨任务执行数据验证了基于SA *算法的月面巡视器机械臂就位探测任务的可行性。
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| 关 键 词： | 月面巡视器 机械臂 就位探测规划 SA*算法 |
| 收稿时间： | 2014-06-06 |
In Situ Manipulator Exploration Planning of Chang’E 3 Lunar Rover |
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| WU Ke,LENG Shu,LI Qun zhi,SHEN Zhen rong,JU He hua.In Situ Manipulator Exploration Planning of Chang’E 3 Lunar Rover[J].Journal of Astronautics,2015,36(4):375-382. |
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| Authors: | WU Ke LENG Shu LI Qun zhi SHEN Zhen rong JU He hua |
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| Institution: | 1．Beijing Institute of Spacecraft System Engineering, Beijing 100094, China；
2．College of Electronic and Control Engineering, Beijing University of Technology, Beijing 100022, China |
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| Abstract: | A planning method based on SA * algorithm is presented in this paper. Forward/Inverse kinematics model of a manipulator is established to satisfy the constraints of security, and manipulator - rover body collision and manipulator - lunar environment collision are avoided by use of collision detection. The SA * algorithm is used to search for the working space of the manipulator and to achieve in-situ exploration planning for Rover Lunar under the condition of the least switching times for manipulator posture. The feasibility of the in-situ exploration planning method based on SA * algorithm for manipulator is verified by using the on-orbit data. |
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| Keywords: | Lunar Rover Manipulator In-situ exploration SA* algorithm |
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