基于Lyapunov方法的双臂空间机器人避障碍分级非完整运动规划

以Lyapunov方法为基础,讨论了载体姿态与位置均不受控制的双臂空间机器人系统的避障碍分级非完整运动规划问题.该方法充分利用系统的非完整动力学性质,以系统动量矩守恒关系及运动Jacobi关系为基础,建立控制设计所需的系统状态方程及控制输出方程;并在Lyapunov函数的选取上采用两级采取方式,即初级Lyapunov函数确保双臂空间机器人的两个末端抓手从初始位置运动到指定的终点位置,次级Lyapunov函数则确保两个末端抓手避开工作空间中的障碍区域;两级合成则使双臂空间机器人的两个末端抓手既实现了指定的位置移动又避开了障碍区域.系统数值仿真,证明了方法的有效性.

Hierarchical Nonholonomic Motion Planning of Dual-Arm Space Robots for Obstacle Avoidance via Lyapunov Methods

Based on Lyapunov methods, the hierarchical motion planning of free-flying dual-arm space robots for obstacle avoidance is discussed. The methods make full use of the nonholonomic nature of the system. With the momentum conversation and the Jacobian matrix, the system state equations and the control output equations for control design are established. And then the primary and secondary Liapunov functions are selected. The primary function insures the movement of the endeffectors from the start point to the end point. The secondary ascertains obstacle avoidance of the endeffectors. Combined the primary and secondary functions, the two endeffectors implement the specific movement and realize obstacle avoidance. A planar dual-arm space robot is simulated to verify the proposed methods.