自由漂浮空间机器人无逆运动学基于采样的运动规划

Hongwen Zhang, Zhanxia Zhu, Jianping Yuan

科研成果: 期刊稿件文章同行评审

3 引用 (Scopus)

摘要

Motion planning is one of the fundamental technologies for robots to achieve autonomy. Free-floating space robots composed manipulators and base satellite that do not actively control its position and attitude has nonholonomic characteristics, and there is a first-order differential relationship between its joint angle and the base attitude. In addition, the planning framework which first converts the goal end-effector pose to its corresponding target configuration, and then plan the trajectory from the initial configuration to the goal configuration still has the following problems: the goal configuration and the initial configuration may not be in the same connected domain. Based on the RRT framework, the motion planning of a free-floating space robot from the initial configuration to the goal end-effector pose is studied. In the algorithm design, in order to deal with the differential constraints of the free-floating space robot, and the requirement that the attitude disturbance of its base cannot exceed its limit, a control-based local planner for random configuration guiding growth of the tree and a control-based local planner for goal end-effector pose guiding growth of the tree that can adjust the attitude of the base when necessary are proposed. The former can ensure the effective exploration of the configuration space, and the latter can avoid the occurrence of singularity while ensuring that the algorithm converges quickly and the base attitude disturbance meets the constraints. The present algorithm does not need to solve the inverse kinematics, can successfully complete the planning task, and ensure that the base attitude disturbance meets the requirements. The simulation verifies the effectiveness of the algorithm.

投稿的翻译标题Non-inverse kinematics of free-floating space robot based on motion planning of sampling
源语言繁体中文
页(从-至)1005-1011
页数7
期刊Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
39
5
DOI
出版状态已出版 - 10月 2021

关键词

  • Free-floating space robot
  • Motion planning
  • Motion planning of sampling
  • Nonholonomic robot

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