飘浮式空间机器人路径规划的全局最优解析解

Analytic Solution of Global Path Planning for Space Free flying Robotics

本文根据刚体螺旋运动的特点，利用旋转矩阵构造出评价载体姿态变化的目标函数；采用Ｖａｆａ等人的“虚机械臂”模型简化计算；利用动量矩守恒的假设条件及完成抓取固定目标时的几何位形关系，得到微分约束和边界约束。提出机械臂“周期运动”寻优法，从而得到全局优化的近似解析解。

One of the most important problems in space based robotics is the disturbance to the satellite attitude caused by satellite mounted manipulators operation.In this paper the dynamic equations and conservation of angular momentum of a space manipulator system which are considered subject conditions are developed by using the “Virtual Manipulator Mode”;According to skew Matrix about skew motion of rigid body,we put out with a function to comment on the attitude change of rigid body;the we present a technique called“periods motion“to find an globally optimal path planning in form of analytic function solution.