空间桁架在轨装配机器人的运动规划方法

In this paper, a design scheme of using a robot to complete the on-orbit assembly of a space truss is proposed, and a motion planning method that introduces heuristic information is proposed for the collision-free motion planning problem of the robot. Firstly, an assembly robot and a space truss system are designed. Then, a collision detection algorithm based on distance field is introduced to detect obstacles in space, and the stochastic trajectory optimization for motion planning (STOMP) algorithm is used to plan the robot's collision-free motion. The heuristically STOMP (hSTOMP) motion planning algorithm is proposed to solve the problem of low efficiency caused by uncertain of the direction of stochastically-stacked trajectory. The simulation results show that the algorithm can quickly obtain the collision-free smooth joint trajectory of the robot. The introduction of heuristic information greatly improves the planning efficiency of the original algorithm, which has certain theoretical significance and application value.