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为扩展对空间自由漂浮机械臂系统进行的载体姿态无扰运动规划的可解空间,提出一种新的运动规划方法.首先,首次提出一类平推无扰曲线,利用自由漂浮机械臂系统的非完整约束推导了平推无扰曲线满足的方程,并分析了平推无扰曲线的特性;其次,将满足载体姿态无扰的关节运动曲线分为两段,其中一段是经过目标点的平推无扰曲线,另一段是通过初始点并且和平推无扰曲线相交的一般无扰曲线;最后,基于Gauss伪谱法和直接打靶法的混合规划策略求解一般无扰曲线.数值计算的结果表明,本文提出的方法能够快速有效实现机械臂的无扰运动规划,并且该方法的可解空间几乎可以覆盖机械臂系统的整个工作空间.
In order to expand the solvable space of the unsteady motion planning of spacecraft with free-floating manipulator, a new method of motion planning is proposed.Firstly, a class of flat-push undisturbed curves is proposed for the first time, using the free-floating manipulator system Nonholonomic constraints deduced the equation for the satisfaction of the non-perturbed curve and analyzed the characteristics of the non-perturbed curve. Secondly, the motion curve of the joint that satisfies the attitude of the carrier is divided into two sections, of which one is the flat The other is the general perturbed curve which crosses the initial point and the flat push undisturbed curve.Finally, the general non-perturbation curve is solved by the hybrid programming strategy based on Gauss pseudo-spectral method and direct shooting method.The numerical results show that The method proposed in this paper can quickly and effectively realize the non-interference motion planning of robotic arm, and the solution space of this method can cover almost the entire working space of robotic system.