Pre-impact trajectory planning for minimizing base attitude disturbance in space manipulator systems for a capture task

查看全文 作　　者：Zhang [1]Long;Jia [1]Qingxuan;Chen [1]Gang;Sun [1]Hanxu

机构地区：[1]School of Automation, Beijing University of Posts and Telecommunications

出　　处：《Chinese Journal of Aeronautics》索引2015年第28卷第4期,共10页

基　　金：supported by the National Basic Research Program of China (No.2013CB733000);the National Natural Science Foundation of China (No.61175080);BUPT Excellent Ph.D.Students Foundation of China (No.CX201427) 摘　　要：Aimed at capture task for a free-floating space manipulator, a scheme of pre-impact trajectory planning for minimizing base attitude disturbance caused by impact is proposed in this paper.Firstly, base attitude disturbance is established as a function of joint angles, collision direction and relative velocity between robotic hand and the target.Secondly, on the premise of keeping correct capture pose, a novel optimization factor in null space is designed to minimize base attitude disturbance and ensure that the joint angles do not exceed their limits simultaneously.After reaching the balance state, a desired configuration is achieved at the contact point.Thereafter, particle swarm optimization(PSO) algorithm is employed to solve the pre-impact trajectory planning from its initial configuration to the desired configuration to achieve the minimized base attitude disturbance caused by impact and the correct capture pose simultaneously.Finally, the proposed method is applied to a 7-dof free-floating space manipulator and the simulation results verify the effectiveness. 关键词：空间机器人轨迹规划机械臂系统捕获关节角度拍摄姿势粒子群优化自由漂浮

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Pre-impact trajectory planning for minimizing base attitude disturbance in space manipulator systems for a capture task

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