Coupling minimization with obstacles avoidance of free-floating space robots based on hybrid map in configuration space

摘要

To avoid the saturation of momentum wheels and the harm due to the thruster plume during the on-orbital manipulation, space robots usually stay in a free-floating state which follows the linear and angular momentum conservation leading to a kinematic coupling effect of the satellite base and the space manipulator. Emphasizing the stability of satellite base and execution safety, it is significant to minimize the kinematic coupling effect as well as avoid obstacles in the environment. Nevertheless, coupling minimization and obstacles avoidance are considered separately in previous work. By applying a hybrid map in the Configuration space, this article proposes a unified method dealing with the above two problems together. First, coupling factors are defined to evaluate the kinematic coupled effect which can be described by a coupling map; second, an obstruction map is generated by transforming obstacles in the Cartesian space to the Configuration space; the proposed hybrid map is finally generated from an overlay of a coupling map and an obstruction map. Numerical simulations verify the effectiveness of the method on a two degree-of-freedom planar space robot.