串联冗余自由度机构关节角位置的规划算法

发布时间：2018-04-27 13:15

本文选题：冗余自由度机构 + 卫星天线　；参考：《哈尔滨工程大学学报》2017年10期

【摘要】：为了建立一种实时求解串联冗余自由度机构关节角位置的方法,解决串联冗余自由度机构逆运动学求解中角位置的求解问题,给出了逆运动学的数值解。根据加权伪逆理论,采用瞬时最优速度表达关节空间角增量的方法,研究了关节空间角位置数值解法,给出了冗余自由度机构连续跟踪期望空间姿态时的关节空间角位置计算方法。在典型运动输入条件下,分别恒定速比关节位置算法和加权逆速度积分方法获得的关节位置和姿态误差进行仿真。为验证算法有效性,以卫星天线姿态稳定系统为研究对象,仿真结果表明,恒定速比关节位置算法在运动学逆解过程中能够保证天线姿态误差Frobenius(弗罗贝尼乌斯)范数小于10~(-4)。仿真结果表明:本文提出的方法能够连续给出冗余自由度机构运动过程中的关节空间角位置的希望值,实现了逆运动学角位置层面的数值解和理想的控制精度。
[Abstract]:In order to establish a real-time method to solve the joint angle position of series redundant mechanism, and to solve the problem of inverse kinematics of series redundant mechanism, the numerical solution of inverse kinematics is given. According to the weighted pseudo-inverse theory, the instantaneous optimal velocity is used to express the joint space angle increment, and the numerical solution of joint space angle position is studied. The calculation method of joint angle position for continuous tracking of desired spatial attitude of redundant DOF mechanism is presented. The joint position and attitude errors obtained by the constant velocity ratio joint position algorithm and the weighted inverse velocity integral method are simulated under the condition of typical motion input. In order to verify the effectiveness of the algorithm, a satellite antenna attitude stabilization system is studied. The simulation results show that the constant speed-ratio joint position algorithm can guarantee the antenna attitude error Frobenius (Frobenius) norm less than 10 ~ (10) ~ (-4) ~ (-1) in the inverse kinematics solution. The simulation results show that the proposed method can continuously give the desired position of joint space angle in the motion process of redundant DOF mechanism, and achieve the numerical solution of the inverse kinematic angle level and the ideal control accuracy.
【作者单位】：哈尔滨工程大学自动化学院;北京航天控制仪器研究所;
【基金】：国家自然科学基金项目(61203225,61633008) 黑龙江省自然科学基金项目(QC2014C0669) 中央高校专项基金项目(HEUCF041702) 海洋工程国家重点实验室开放课题项目(1616)
【分类号】：TN820

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