两自由度空间机器人运动规划方法

Motion planning for two-degree space robots

采用微分几何中的活动标架方法,对空间机器人进行了建模分析,提出了以黎曼曲面上的测地线为依据进行操作臂与安装基座耦合状态下的空间机器人运动规划的方法。以空间机器人末端运动轨迹弧长作为黎曼度量,并融合系统动量守恒约束条件,建立了具有此种黎曼度量的黎曼曲面上的测地线微分方程,并对微分方程的初始条件进行了分析计算。最后以测地线作为空间机器人轨迹规划的方法,对2自由度机器人的运动规划进行了计算机仿真研究。

To solve the problem of motion planning for the space robot systems manipulator and the supporting base, a geodesic method was proposed. ics model for space robots and the Riemannian metric which is based on in which there exist motion coupling between the By using the moving frame method, the kinematthe square of end effector moving arc-length were constructed. Then the differential equation of geodesic in which the momentum conservation constraint was considered was established on the Riemannian surface, and the the initial value of the differential equation was also analyzed. Finally, the two DOF space robot was used to introduce the application of this geodesic method.