摘要
针对七自由度空间机械臂在轨捕获目标任务的需求,提出了一种避障路径规划方法。主要是根据机械臂和障碍物的几何特征,对机械臂模型和障碍模型进行简化;通过研究机械臂自身所固有的几何特性和障碍物的位姿坐标,分析机械臂各杆件与障碍物发生碰撞的条件,进而求出空间机械臂的无碰撞自由工作空间;利用优化的A*算法,在七自由度空间机械臂的自由工作空间内进行了无碰撞最优路径的搜索,从而实现了七自由度空间机械臂的避障路径规划。仿真结果表明了该算法的有效性与可行性。
An obstacle avoidance path planning method is proposed for 7-DOF space manipulator to meet demands of in-orbit mission for capturing target.The content of the method is listed as follows.Firstly,based on the geometric characteristics of manipulator and obstacle,the model of manipulator and obstacle is simplified.Secondly,on the basis of the inherent geometric characteristics of manipulator,and according to the position and orientation coordinates of obstacle,the collision conditions of all manipulator＇s links are analyzed.Then,the collision-free motion space of space manipulator is obtained.Thirdly,on this basis,the optimal collision-free path of 7-DOF space manipulator is acquired in the collision-free motion space with A＊ algorithm.Thereby,the obstacle avoidance path planning is achieved.Finally,the effectiveness and feasibility of the proposed method is verified by simulation.
出处
《航天器工程》
2011年第4期65-71,共7页
Spacecraft Engineering
基金
中国教育和科研计算机网络中心资助的"教育科研基础设施IPv6技术升级与应用示范"项目的子项目"下一代互联网虚拟现实科研交流平台应用示范"
中央高校基本科研业务费资助(2009RC0603)
中央高校基本科研业务费专项资金(2010PTB-07-02)
关键词
空间机械臂
工作空间
七自由度
避障路径规划
A＊算法
仿真
space manipulator
workspace
7-DOF
obstacle avoidance path planning
A＊ algorithm
simulation
