空间站机械臂任务规划方法

Task Planning Method for Space Station Manipulator

任务规划技术是航天任务执行过程中的核心关键技术,针对空间站机械臂的外自主行为受限、行为多样、分支众多,存在多类型约束以及多资源条件限制等特点,对空间站机械臂任务规划方法进行研究。对任务需求进行分析形成月事件,地面工程师给出将任务分解为子任务的建议,将月事件分解为具有逻辑关系的飞控事件,飞控事件集合描述了航天器不同的行为及不同模式下的行为,每一个模式下的飞控事件由控制动作或控制动作序列构成,建立了分层规划对象模型。同时,构建状态空间集合描述时变的器上状态和状态值,在飞控事件层和控制动作序列层建立状态推理模型。采用多约束逻辑表达式对联合约束进行描述,将运动飞控事件进行归一化设计。在时间的调度和资源条件限制下在规划器中进行迭代求解,生成地面控制动作序列,实现任务目标并用于任务实施。在空间站机械臂在轨任务中验证了该方法的正确性和高效性。

Task planning technology is the core and key technology in the execution process of space missions In response to the characteristics of space station robotic arms,e g,limited extraterrestrial autonomous behavior,diverse behavior,numerous branches,multi-type constraints,and multiple resource constraints,the task planning method for space station manipulator is studied The task requirements are analyzed to form a monthly event The ground engineer provides suggestions for decomposing the task into subtasks,decomposing the monthly event into flight control events with logical relationships The flight control event set describes different behaviors and modes of the spacecraft,and the flight control events under each mode are composed of control actions or control action sequences A hierarchical planning object model is established At the same time,a state space set is constructed to describe the time-varying on-board states and state values,and a state inference model is established at the flight control event layer and control action sequence layer Besides,multiple constraint logic expressions are used to describe the joint constraints and normalize the design of motion control events Under time scheduling and resource constraints,the iterative solutions are performed in the planner to generate ground control action sequences,achieve task objectives,and be used for the task implementation The correctness and efficiency of the proposed method are verified in the on-orbit mission of the space station manipulator.