论文部分内容阅读
根据空间机械臂双臂协调操作过程中的两种典型运动—双臂末端无相对运动和双臂末端有相对运动,提出了相应的空间机械臂双臂协调操作路径规划算法。首先,建立空间机械臂双臂末端的运动学位置约束方程和速度约束方程,在笛卡尔空间对操作物进行路径规划,再通过求解协调运动的约束方程映射到关节空间,计算关节广义坐标的运动量。该算法计算效率高,且能保证双臂末端操作物体时有较高的精度。最后,通过由2个七自由度空间机械臂组成的双臂系统的协调操作可视化仿真验证了所提路径规划算法的有效性。
According to the two typical movements during the coordinated operation of two arms of a space manipulator, that is, there is no relative motion at the end of the two arms and relative motion at the two arms’ distal ends. Corresponding algorithms for coordinating the path planning of two arms of a space manipulator are proposed. Firstly, the kinematic position constraint equation and the velocity constraint equation of the end of the arms of the space manipulator are established, the path planning of the manipulator is carried out in Cartesian space, and then the constrained equations of the coordinated motion are mapped into the joint space to calculate the joint motion of the generalized coordinates . The algorithm is computationally efficient and guarantees high precision when operating the ends of the arms. Finally, the effectiveness of the proposed path planning algorithm is verified by visual simulation of coordinated operation of a two-arm system consisting of two seven-DOF space robots.