空间机器人位姿空间分层量化建模方法

HIERARCHICAL QUANTIZATION MODELLING OF CONFIGURATION SPACE FOR SPACE ROBOTS

本文首先分析了空间机器人在位姿空间的不完全可控性及其给运动规划带来的困难．在此基础上，本文提出一种适用于空间机器人的位姿空间分层量化建模方法．此方法首先对位姿空间进行了分层量化处理，然后通过定义位姿间的相邻关系而建立了位姿空间图（ＣＳＧ），并对ＣＳＧ的顶点和边的碰撞情况做了规定．

This paper firstly analyzes the incomplete controllability of space manipulators in configuration space. Based on the analysis,a hierarchical quantization modelling method of configuration space suitable for space robots is presented. The presented method firstly hierarchically quantizes the configuration space, then builds up the Configuration Space Graph(CSG) by defining the adjacent relations between configurations. The collision situations of vertices and edges of CSG are defined. Finally for a space robot model,an example of configuration space modelling as well as a motion planning result based on the modelling method are given.