月面采样机械臂动态任务规划方法研究

Dynamic mission planning method for the lunar sampling robotic arm

由于月面着陆姿态、工作环境和机械臂变形等多种不确定因素影响,月面采样机械臂的任务规划结果无法事先准确确定,对月面采样机械臂的表取采样任务规划系统的准确性、实时性和灵活性提出了较高的要求.为保证有限时间内灵活准确地进行月面采样作业任务规划,本文提出了月面采样机械臂的动态任务规划方法,设计了包括任务整体规划、采样策略规划和运动控制规划在内的三层规划体系,将复杂月面采样作业任务规划问题分解为空间约束、时序推理和运动控制三个维度分别求解.在此基础上,提出了基于改进Allen模型的时态规划方法和基于最短实时避障路径的运动规划方法,实现对采样任务过程与操作路径的动态灵活调整与快速高效规划.最后,通过机械臂月面采样过程的规划实例,对本文方法进行了验证.结果表明,本文提出的动态任务规划方法满足了月面采样机械臂任务规划的需求,为月面采样任务提供了可靠的理论支持.

As a result of the influences of uncertain factors,such as the landing attitude,lunar environment,and manipulator deformation,the mission plan for the Chang’e lunar sampling robotic arm cannot be determined accurately in advance,resulting in higher requirements for the mission planning system of the lunar sampling robotic arm.To ensure the flexibility of the mission schedule and the accuracy of the sampling,a dynamic mission planning method is proposed.First,a three-layer planning system,including the overall task planning layer,the strategy planning layer,and the motion planning layer,is designed.Then,an improved Allen model based on quantitative matrixes and virtual events is established to describe the dynamic temporal relationship in the strategy planning layer.The shortest obstacle avoidance path planning method enables efficient trajectory planning for the lunar sampling robotic arm.Finally,simulations of the lunar sampling strategy and robotic arm motion planning are studied.The simulation results show the feasibility of the proposed dynamic mission planning method,which provides reliable theoretical support for the Chang’e lunar sampling mission.