双臂空间机器人系统运动规划的双向逼近方法

Bi-Directional Approach for Motion Planning of Dual-Arm Space Robot Systems

基于双向逼近方法,讨论了载体位置与姿态均不受控制的双臂空间机器人系统的运动规划问题。该方法以系统动量和动量矩守恒关系为基础,建立了控制系统设计所需系统状态方程;并通过对系统状态方程应用双向逼近方法,获得了机械臂关节角的控制输入方程,从而达到对载体姿态及机械臂关节角的双重控制效果。该方法的优点是减少了载体姿态控制燃料的消耗,有效地延长了空间机器人系统的使用寿命。系统数值仿真证明了该方法的有效性。

Based on the bi-directional approach, the paper discusses the motion planning of freeflying dual-arm space robot systems. With the linear and angular momentum conversation, the state equation is established for the system control design. And then applying the Lyapunov method to the state equation, the control input equation of the manipulator joint angles controlling the vehicle attitude and the manipulator joint angles is obtained. Because no continuous trajectory from the start point to the end point in the state space can complete the desired task, the synthesized trajectory is gained to accomplish the desired task through the bi-directional approach. The advantage of the approach is to decrease the fuel consumption for controlling the vehicle attitude and prolong the available life-span of space robot systems. A planar dual-arm space robot system is simulated to verify the proposed approach.