闭环双臂空间机器人运动规划的双向逼近方法

BI-DIRECTIONAL APPROACH OF MOTION PLANNING OF CLOSED-LOOP SPACE ROBOT SYSTEM WITH DUAL-ARMS

讨论了载体位置、姿态均不受控制的闭环双臂空间机器人系统的非完整运动规划问题.以系统动量、动量矩守恒关系及几何约束条件为基础,建立了控制设计所需的系统状态方程;并通过对状态方程应用双向Lyapunov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.通过一个平面自由漂浮闭环双臂空间机器人系统的数值仿真,证明了方法的有效性.

The nonholonomic motion planning of free-floating closed-loop space robot system with duN-arms is discussed in this paper. Based on the relation of the linear, angular momentum conservation and the geometric constraints of the system, the state equation of the system is established for the design of the control system. And applying the bi-directional Lyapunov approach to the state equation, the control input equation of the arms＇ joints is obtained to control both the base attitude and the arms＇ joints. Because no continuous trajectory from the start point to the end point in the state space can complete the desired task, a synthesized trajectory is obtained to accomplish the desired task through the bi-directionN approach. The advantage of the approach is the decrease of the fuel consumption for controlling the base attitude and the increase of the available life-span of the space robot system. A planar closed-loop space robot system with dual-arms is simulated to verify the proposed approach.