空间机器人目标捕获的自适应规划

摘要

Different from that of the fixed-base robot,the dynamic parameters exist in the kinematic equations of the space robot. Hence the uncertainties of the dynamic parameters of the target may bring fatal accidents to the motion planning for space robot during target capture.The adaptive planning related to the target capture by a space robot is discussed in this paper. The kinematics of the free-floating space robot for capturing targets is established.The linearization of dynamic parameters or their combination in the Jacobian and the momentum conservation equation is discussed.A new adaptive planning method is presented.A planar FFSR with a 2-DOFs manipulator is selected as the research object.Validity of the method is demonstrated by simulation results.The adaptive planning method can reduce the influences to the motion planning with dynamic uncer-tainties.This method gives ability of trajectory tracking precisely in task space for target capture.%与地面固定基座机器人不同的是,空间机器人的运动学方程中含有动力学参数.在执行目标捕获任务时,目标动力学参数的不精确会给空间机器人的规划带来致命的影响.针对目标捕获后动力学参数不精确情况下的关节空间规划问题,在建立了自由飘浮空间机器人运动学模型的基础上,给出了雅可比矩阵及其动量守恒方程中的惯性参数以及惯性参数的组合参数线性化的具体形式,提出了一种关节空间的自适应规划方法.以平面二连杆空间机器人为研究对象进行仿真验证.结果表明,所提出的自适应规划方法可以有效降低惯性参数不精确给运动规划带来的影响,为空间机器人执行目标捕获等任务时提供了任务空间内精确轨迹跟踪的能力.