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保持基座稳定的双臂空间机器人轨迹规划研究

DOI: 10.3724/SP.J.1004.2013.00069, PP. 69-80

Keywords: 空间机器人,双臂协调,目标捕获,路径规划

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Abstract:

?针对双臂空间机器人在轨执行任务中需要利用平衡臂稳定基座的问题,提出了两种典型应用需求——基座质心位置稳定、基座姿态和质心位置同时稳定的协调规划方法.首先,提出了“系统质心等效机械臂”的概念并推导其运动学模型,基于此模型的位置级反解规划平衡臂的运动轨迹,使基座质心位置稳定在期望位置;其次,根据角动量守恒定律确定反作用飞轮的运动速度,将飞轮与平衡臂的运动相结合,同时稳定基座姿态和质心位置;最后,建立双臂空间机器人系统的多体动力学模型并开展仿真研究.所提出的方法克服了以往基于微分运动学所无法回避的奇异问题,且不对平衡臂的质量特性和安装位置作特殊规定,仿真结果证明了方法的有效性.

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