论文部分内容阅读
为满足自由漂浮空间机器人系统工作时需保证载体姿态稳定的要求,提出了一种载体姿态无扰动的非完整运动规划方法。该方法通过引入载体姿态无扰约束方程,构建载体姿态无扰曲线组,设计了关节空间基本规划算法;采用多次规划的方法,克服了基本算法不能够在整个无扰工作空间内规划的不足。仿真得到的位置偏差和路径规划结果表明机械臂末端达到目标点的同时确保了载体姿态无扰动,从而验证了所提方法的有效性和可行性。
In order to meet the requirement of ensuring the attitude stability of a free-floating space robotic system, a nonholonomic motion planning method with undisturbed attitude of the bearer is proposed. This method constructs a set of undisturbed curves of the attitude of the carrier by introducing the disturbance-free constraint equation of the attitude of the carrier and designs a basic algorithm of joint space planning. By adopting the method of multiple programming, the problem that the basic algorithm can not be planned in the entire non-interference-free working space is overcome . The simulation results of the position deviation and the path planning show that the end of the manipulator reaches the target point and the disturbance of the attitude of the carrier is ensured, which proves the validity and feasibility of the proposed method.