全程恒定基座姿态零扰动的空间机械臂轨迹规划

发布时间：2018-01-26 08:02

本文关键词： 自由漂浮空间机器人(FFSR) 轨迹规划全程恒定基座姿态零扰动可控性控制函数参数化　出处：《北京航空航天大学学报》2017年03期 　论文类型：期刊论文

【摘要】：本文研究了全程恒定基座姿态零扰动的自由漂浮空间机器人(FFSR)末端位姿轨迹规划的问题。针对无运动学冗余自由度的三关节平面FFSR系统,首先建立了其末端位姿与关节角之间的状态变换关系,然后给出了以基座姿态和关节角为状态变量的系统方程。根据该系统方程,利用非线性系统的可控性判据证明了在保证全程恒定基座姿态零扰动的前提下,对FFSR系统的末端位置和姿态同时作轨迹规划的可行性;再利用最优控制策略,将轨迹规划问题转换为最优控制问题,设计了一种全程恒定基座姿态零扰动的末端位姿轨迹规划方法。数值仿真验证了结论的正确性和设计方法的有效性。
[Abstract]:In this paper, the problem of end-position and attitude trajectory planning of a free-floating space robot with zero disturbance of the whole constant base attitude is studied. The three-joint plane FFSR system with no kinematic redundancy is studied. Firstly, the state transformation relationship between the terminal position and the joint angle is established, and then the system equation with the attitude of the base and the angle of the joint as the state variables is given, according to the system equation. The controllability criterion of nonlinear system is used to prove the feasibility of trajectory planning for the terminal position and attitude of FFSR system under the premise of ensuring the zero disturbance of the whole constant base attitude. Using the optimal control strategy, the trajectory planning problem is transformed into the optimal control problem. In this paper, a method of end-pose trajectory planning with zero disturbance of the whole constant base attitude is designed, and the correctness of the conclusion and the validity of the design method are verified by numerical simulation.
【作者单位】：北京航空航天大学宇航学院;上海航天控制技术研究所;上海市空间智能控制技术重点实验室;
【基金】：国家自然科学基金(11272027)~~
【分类号】：TP242
【正文快照】： 网络出版地址:www.cnki.net/kcms/detail/11.2625.V.20160503.1805.006.html引用格式:黄兴宏,贾英宏,徐世杰,等.全程恒定基座姿态零扰动的空间机械臂轨迹规划[J].北京航空航天大学学报,2017,43(3):488-496.HUANG X H,JIA Y H,XU S J,et al.Trajectory planning of a space man

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