摘要
当载体不受控时,机械臂和载体运动之间存在非完整约束。根据多体动力学理论建立自由漂浮空间机器人动力学模型,给定系统的初始和目标位形,选取空间机械臂关节耗散能最小为性能指标,运用多项式插值逼近机械臂关节运动轨迹,将插值多项式的系数作为优化参数,采用序列二次规划法优化求解空间机械臂关节运动轨迹。数值仿真结果表明,航天器载体和机械臂从初始位置到运动终端位置的过程中,轨迹平滑连续,能准确到达目标位形,没有迂回运动,保证了系统展开过程的平稳性,控制输入变化幅度较小,且在始末时刻保证控制输入均为0,验证了多项式插值逼近自由漂浮空间机械臂运动规划是可行有效的。
When the carrier is uncontrolled, there are nonholonomic constraints between the manipulator and the motion of the carrier. According to the theory of multi-body dynamics, the dynamic model of free-floating space robot is established. Given the initial and objective configuration of the system, the minimum dissipated energy of the joint of space manipulator is selected as the performance index. The joint trajectory of space manipulator is approximated by polynomial interpolation. The coefficients of the interpolation polynomial are taken as the optimization parameters, and the joint motion of space manipulator is optimized by sequential quadratic programming. The numerical simulation results show that the spacecraft carrier and the manipulator can reach the target configuration accurately from the initial position to the terminal position;the trajectory is smooth and continuous without circuitous movement, which ensures the stability of the system deployment process;the change range of the control input is small, and the control input is zero at the beginning and the end. The polynomial interpolation method is verified to approximate the free floating space manipulator and the motion planning is feasible and effective.
作者
崔浩
戈新生
CUI Hao;GE Xinsheng(Mechanical Electrical Engineering School,Beijing Information Science &Technology University,Beijing 100192,China)
出处
《北京信息科技大学学报（自然科学版）》
2019年第4期17-23,29,共8页
Journal of Beijing Information Science and Technology University
基金
国家自然科学基金资助项目(11732005)
关键词
空间机器人
非完整运动规划
运动规划
多项式插值
最优控制
space robot
nonholonomic motion planning
motion planning
polynomial interpolation
optimal control
