空間機(jī)械手的跟蹤捕捉操作

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hespacerobotsystemcompletely.Ontheotherhand,itisveryimportantproblemtoplanatrajectoryforspacemanipulatortotrackandapproachtheUSS.Thispaperwillfocusonthisproblem.Thekeypointoftrajectoryplanningofrobotistosolveinversekinematicsofspacemanipulator.ThedrawbackinkinematicsproblemsofVafaetal[Z.VafaandS.Dubowsky(1987)]haveaddressedthemintheirpapers,theforwardkinematicshasnotabledifficulty,i.e.,thepositionandorientationofthemanipulatorend-effectordonothaveaclosedformsolutionsincetheydependontheinertiapropertythatchangesaccordingtotheconfigurationofspacemanipulator.Therefore,thehistoryoftheposturalchangemustbeconsideredinordertoderivethesolution,alltheseproblemsmaketheinversekinematicsInordertocopewithtrackingtrajectoryplanningaccordingtothefeaturesoftheUSSandthespaceInthispaper,theauthorsassumeamodelofspacerobotsystemwhichiscomposedofaspacebaseandaroboticasimplemodelofspacerobotsystemwithasinglemanipulatorarm.Inordertoclarifythepointatissue,a)Thespacerobotsystemconsistsofn+1linksconnectedwithnactivejoints,eachjointhasoneb)Nomechanicalrestrictionandexternalforceorignored,sothatthetotalmomentumofthemechanicalsystemisalwaysconserved.Thekinematicsanddynamicsanalysisduringthemotionisintheinertialcoordinatesystem.Therefore,theDOFofthespacemanipulatorsystemininertialcoordinateisn+6,thatisc)Forsimplification,thewholesystemiscomposedofrigidbodies,thus,thespacemanipulatorsystemisregardedafree-flyingmechanicalchainconsistedofn+1d)ThemotionstateofUSScanbeestimatedbythesensorsofthespacerobotsystem.ThemainparametersoftheUSSspinningmotionarecalculatedaccordingtotheUSSdynamicsstate.i.e.thespinningvelocitycanbeestimatedandthemarkpointsofUSSmotionsthecircleThekinematicsofroboticmanipulatormapsthespace-basedkinematicsisdifferentformtheterrestrialtheend-effectorrespectively.However,thespace-basedkinematicsalsodependsonthemass,inertia,positionandorientationofthespacebasebesidesthejointvariablesbecauseoftheinteractionbetweenthemanipulatorandspacebase.WewillsimplyreviewitthathasbeendescribedbyYojiUmetanietal[Yojiatreeconfiguration,eachjointisnumberedinseriesof1coordinatesystemΣIintheorbit,theotheristhebasecoordinatesystemΣ0attachedonthebasebodywithitsoriginatthecentroidofthebase.TheCOMisthecenteroftotalsystemmass,allvectorsinthispaperareexpressedintermsofcoordinateΣI.WeusethreeappropriateparameterssuchasRoll,Pitch,andYawtoTherefore,weusethevectorprincipletodescribetheDifferentiatethekinematicsequation(1)withrespecttotime.Then,wecanobtainthekinematicsrelationshipinvelocitylevel.Thedetailderivationseestheconcernedl0:Vectorpointingfromthecentroidofspacebasetomethod[RobertE.Roberson(1997)]toderivetherigidmathematicalgraphtheory[JensWittenburgescribetheinterconnectingofthemulti-body.Theadvantageofthismethodisthatthevariousmulti-bodysystemscanbedescribedbytheuniformmathematicalmodel.Sofar,therearemanystudiesonthedynamicsofThemotionequationofthespacerobotsystemisexpressedinthefollowingform[Y.XuandT.KanadeThesymbolsintheaboveequationsaredefinedasrg:ThepositionvectorofthetotalcentroidofthespaceInetiatenorofthelinkiwithrespecttoitsmasscm:Velocitydependentnon-lineartermforheHbm:ThecouplinginertialmatrixbetweenthespacebaseAllvectorsaredescribedwithrespecttotheinertialdynamic.TheinversedynamiccomputationisusefulforWalkerandR.P.C.Paul(1980)][K.Yoshida(1997)]tocomputeinversedynamics.Inaddition,calculatinginversedynamicscanobtainthereactionforce/momentwhere:Fi,Niareinertialforceandmomentextertingonthecentroidoflinki.Otherwisewedefineforceandmomentfi,niextertingonthejoint,fciandnciextertingontheend-effector.Thus,thedynamicequilibriumexpressedasfollowingformforarevolutionjoint:Fromtheequation(17),wecanobtaineveryjointtorqueasfollowing:Moreover,thereactionforceandmomentonthespacebasecanbeobtainedasfollowingequations:Theequation(19)canbeusedtomeasuretheinteractionbetweenthespacebaseandspacemanipulator.Theseattitudecontrolsystemandorbitcontrolsystem.sij:theelementofIncidencematrixs,thedetailedsei:theelementofIncidencematrixsej(j=1,…,n),thatForwholespacerobotsystem,theexternalforceorthrustersorreactionwheels,andFecanbeassumedzerobeforetheend-effectorcontactstheobjective.ThereforeconservativewhenFh=0.Themotionofsystemisjointτ.Thus,wecanobtainthefollowingmomentaAtthebeginning,assume0forsimplification,thus,fromequation(20),weobtain,thematrixJgiscalledGeneralizedJacobianMatrix(GJM)orSpaceJacobianMatrix(SJG).GJMisusedtocalculatethejointangularvelocityandend-effectorvelocity.Moreover,itisalsousedtocheckwhetherthespacemanipulatorsystemcausesthedynamicssingularities.WhenthedeterminantofGJMisequaltozeroortheGJMlosesfullrank,themanipulatorappearsthedynamicssingularities.Inaddition,theGJMcanbeusedtodesigncontrollerusually.Allmentionedaboveisthefundamentalknowledgeaboutspacerobotsystem.ThefollowingtrackingtrajectoryplanningandcontrolisbaseonthisdynamicInthissection,wedescribetoestimatethemotionstateandequationofUSS.TheUSStoberescuedhasuniquecharacteristicsasfollows:theorbitalinformationsuchasaltitudeandinclinationoftheUSSwillbeknownbythegroundcontrolstation.Thesize,shapeandmassdesignphaseinformation.Thehandlelocationwillbeidentifiedbyhumandecision.ThereforewealsoassumethattheUSSisequippedwithvisualmarker,signalHere,weassumethattheUSSisnearlyaxis-symmetricshapewithagrapplehandleonthemaximummomentumaxisinordertosimplifythecomplicatedproblem.Moreover,therearesomemarkpointsontheUSSsothattheCCDcamerasequippedinmanipulatorestimateitsspinningvelocity.Hence,thegrapplehandleisthekeypointoftrackingtrajectoryofspacemeasurethepositionandorientationfrommanipulatorattachedtotheUSS.DefineXUSS=[PUSS,VUSS,βUSS,ωUSS,]Tasastatevectortodenotethekinematicsparameters.SothemotionequationofUSSisgivenasfollowingformsThesymbolsintheaboveequationaredefinedas(.):Denotesanon-linearfunctionwhichdescribeUSSPUSS:PUSS=[x,y,z]bethepositionofthecenterofUSSβUSS:βUSS=[β1,β2,β3]betheorientationanglesfromA12th-orderextendedKalmanfilter(EKF)[HiroyukiNagamatus,etal.(1996)]isusedtoestimatetheposition,orientationandspinningangularvelocityofUSSincoordinateframeΣE.Now,thedesiredpositionandangularvelocityofmanipulatorhandareobtained,i.e,thepositionandspinningvelocityofUSS.Inthissection,wewilladdresstoplanatrackingtomotionestimationofUSSmentionedabove,thekeyparametersofUSShavebeengottenfromthesensorsofvelocity.Here,wealsoassumethattheUSSkeepsslowspinningmotioninfree-floatingsituation,thus,thetotrackandapproachtowardstheUSS.ThetrackingtrajectorymustsatisfythattherelativemotionvelocitybetweentheUSSandthespacemanipulatorend-effectorisclosetozeroinordertonotcausetheseverecollision,BecausetheUSSkeepstheevencirclemotion,weplanaspiralascendingtrajectoryforspacemanipulatorinCartesianspace.Inordertoimplementatypicalmotioncontrollerinthejointspace,thetrajectoryintheCartesianspacehastomapintotheJointspacebyapplyingtheinversekinematics,theinversekinematicssolutionismulti-solutionsformulti-DOFmanipulator,hence,thismappingrelationshipisnotsimpleinversekinematicsproblem.Forexample,a6DOFmanipulatorlikeasPUMAarmhasabouteightsolutions,somesolutionscannotsatisfytherequirementofcontrolsystem.Moreover,somesolutionscausethedynamicssingularities.AlltheseconstraintsshowthatitisnoteasytomappingtheCartesianspaceintojointspaceforaspecialtrajectoryinCartesianspace,especiallyforplanningspiralascendingtrackingtrajectoryofspacemanipulator.BecauseourresearchtopicfocusesonhowtotrackandapproachtheUSS,thetaskofmanipulatorisusuallyspecifiedassequencesofCartesianknotpointthroughwhichthemanipulatorend-effectormustpass.Thentheend-effectorofmanipulatorarrivesattheplannedpointatdesiredvelocity.Here,theauthorsusetrigonometricsplinefunctiontoplanthespiralascendingtrajectoryofspacemanipulatorinCartesianspace.AccordingtothedistanceinformationbetweenthespacemanipulatorendeffectorandtheUSS,Ingeneral,thetrajectorycanbeexpressedinthefollowingtrigonometricfunction.where:a,bandcareconstants.x0,y0andz0aretheinitialpositionofthemanipulatorend-effector.Itisobvioustodifferentiatetheequation(24)withrespecttotime,wecanobtainthepositionlinearvelocity.Planningaspiralascendingtrajectoryusingequation(24)isonlypositiontrajectoryoftheend-effector.Theauthorhasassumedtheorientationofend-effectorhasmatchedwithUSS.Therefore,theconstraintconditionsareonlylinearvelocitywhichmustapproximatethelinearvelocityofthemarkerpointonUSS.Ontheotherhand,thejointangularvelocitycanbecalculatedbyusingequation(21).Hence,thepositionvelocityshouldsatisfytheconstraintsofjointangularvelocitylinearvelocityofUSS.Atthebeginning,usingforwardkinematicscalculatesthepositionandorientationofend-effectoratinitialjointqinit=[q1,q2,...qn],nexpressesthenumberofmanipulatorDOF.Here,theauthorskeeptheorientationofthemanipulatorend-effectorconstantinordertosimplifytrajectoryplanningproblem.Atthesametime,theyassumethisorientationcansatisfycapturerequirement,i.e.theyonlyconsiderthepositionandvelocityofend-effectorduringtrajectoryplanning.Afterplanningthedesiredtrajectoryusingtrigonometricfunctionmentionedabove,theychoosethekeyknotsinthistrajectoryusingintervalalgorithm[AurelioPiazziandAntonioVisioli(1997)],Then,calculatingtheinversekinematicssolutionsateverykeyknot.Finally,weusehigh-orderpolynomialsplinefunctiontoapproximatethetrajectoryinJointspacewhichwillpresentsimplyinnextsection.TrajectoryplanningintheJoint-variablespacecanbeusedtocontrolthemanipulatormotiondirectlyandbedoneinnearrealtime.Algebraicsplinesarewidelyknownandadoptedintheroboticstrajectoryplanning.Inparticular,thehighorderpolynomialsplinesareoftenemployed,sincetheyassurethecontinuityofvelocityandaccelerationsignalsalongtheplannedmotion.Besides,theparametersareeasytocalculateandlargeoscillationsofthepositionfunctionanditstimederivativesareprevented.Supposetohaveainitialjointpositionsequenceqinit=[q1,q2,...,qn]andtheinversekinematicssolutionatonekeyknotsqknot=[q(k,1),q(k,2),...,q(k,n)].Betweentheinitialjointqinitandoneknotjointqknot,thegeneralmethodusesfollowinghighorderpolynomialfunctiontogeneratethejointtrajectory:(25)Thispolynomialfunctionrepresentsthejointpositionattimeti,thecoefficientsofequation(25)canbedeterminedbyconsideringthefollowinginitialandfinalconditionsTheequation(26)isconstraintfunctionineveryinterval[qinit,qknot],theequation(27)isthepontesoftwosegmentsofthetrajectoryatthekeyknot.Accordingtotheconstraintconditionspresentedinequation(26),theauthorsdefineaquinticpolynomialtogenerateasequenceqattimeintervalt=[t0,t1,...,tn].SimulationStudyInsectionV,theauthorsaddressedthemethodtoplanaspiralascendingtrajectoryinCartesianspaceandJointspacerespectively,andmapintojointspaceusingintervalalgorithm.Inthissection,weutilizeanillustrativeexampletodemonstratethatthistrajectorycanberealizedinrealspacemanipulator,thespacerobotsystemhasasixDOFmanipulatorandalljointsarerotationaljoints.Moreover,thegeometricstructureisthesameasPUMArobotinordertomaketheinversekinematicssolutioneasy.Here,weassumethateachlinkofmanipulatoriscylindric.Theradiusoflinkr=0.04m.ThetableIshowsthedynamicsparametersofthespacemanipulatorsystem.Inthesimulationstudy,theauthorsusethetrigonometricsplinefunctiontoplanthedesiredtrackingtrajectoryinCartesianspace,thenchoosingthekeyknotpointsinthistrajectoryastheintervalreferencepointusingintervalalgorithm,theycalculateandselecttheinversekinematicsolutions.Finally,theyusethefiveorderpolynomialfunctiontogeneratethetrajectoryinJointspace.Accordingtodesiredangularvalue,angularvelocityfromjointtrajectorygenerator,theauthorsusetheDynamicmodelofspacemanipulatorasthecontrolobjectdesignPDcontrollertocontrolthejoint.Here,theauthorsdefinetheattitudecontrolsystemofspacerobotisoffinordertosimplifythecontrol.ThegoalofsimulationistoverifythatthespiralascendingtrajectorycanberealizedinJointspace.Theauthorsalsomeasurethecouplingforceandtorquebetweenthemanipulatorandspacebaseinordertoconfirmwhethertheattitudeandorbitcontrolsystemcancompensatetheorientationandpositiondisturbanceofthespacebase.Fig.3showsthedesiredspiralascendingtrajectoryinCartesianspace.Fig.4andFig.5showthepositionandorientationdisturbanceofthespacebasebecauseofthemotionofthespacemanipulator.Theresultsalwayskeepinasmallboundsothatthesedisturbancescanbecompensatedbytheattitudeandorbitcontrolsystem.Moreover,theorientationandpositionofthespacebasekeeptheformulamovement.Fig.6showsthejointangulardegreeafterinversekinematicsduringoperation.Fig.7showsthetorqueofthemanipulatorjointbecauseofthemotionofspacemanipulator.Allsimulationresultscanbeusedtoverifythatthetrackingtrajectoryofspacemanipulatoriseasytorealizeinfact.TableI:Parametersofspacerobotsystem:空間基地空間機(jī)械手鏈接1鏈接2鏈接3鏈接4鏈接5鏈接6質(zhì)量3002.02.02.0長(zhǎng)度1.00.1490.4320.020.4330.020.056Ixx5080.180.030.08Iyy500.00450.03190.00430.04010.00030.0013Izz500.00450.03190.00430.04010.00030.0013Fig.3.SpiralascendingtrajectoryinCartesianspaceFig.4.PositiondisturbanceofspacebaseFig.5.OrientationdisturbanceofspacebaseFig.6.JointangulardegreeafterinversekinematicsFig.7.JointtorqueofthespacemanipulatorConclusionThispaperplansaspiralascendingtrajectoryofspacemanipulatorfortrackingandapproachingtheUSS.Oneadvantageofproposedtrajectoryistochangetherelativemotionmissiontothefixtureobjectivecapturewhentheend-effectortrackstheUSS.Thesimulationstudyverifiesthattheproposedtrajectorycanberealizedformengineeringpointofview.Approachingandcatchingtheuncontrolledsatellitehasbecomeanimportantclassoffuturespaceroboticmission.Inthispaper,theauthorspresenttheproposedtrackingtrajectoryandpreliminarywork.Inthenextphase,wewillfocusonthefollowingpartsasourfuturework(1)optimizingthistrajectory;(2)thecontactandimpactanalysisduringcapturingprocess;(3)spacerobotmotionstabilizationaftercapturingthetargetsatellite.ReferencesD.ZimpferandP.Spehar,(1996)``STS-71Shuttle/MirGNCMissionOverview,''AdvancesintheAstronauticalSciences,Vol.93,AmericanAstronauticalSociety,SanDiego,CA,1996,pp.441-460;ASSpaper96-129I.Kawano,etal.(1998),``FirstResultofAutonomousRendezvousDockingTechnologyExperimentonNASDA'sETS-VIISatellite,''IAF-98-A.3.09,49thInternatioanlAstronauticalCongress,1998.NoriyasuInaba,MitsushigeOda,(2000)AutonomousSatelliteCapturebyaSpaceRobot,ProceedingsofIEEEInternationalConferenceonRoboticsandAutomation2000.Jacobsen,S.,etal.(2002),PlanningofSafeKinematicsTrajectoriesforFree-FlyingRobotsApproachinganUncontrolledSpinningSatellite,Proc.OfASMEDETC2002,Montreal,CanadaS.DubowskyandM.A.Torres(1991),PathPlanningforSpaceManipulatortoMinimizeSpacecraftAttitudeDisturbances,Proc.ofICRA1991,pp.2522-2528.E.Papadopouls(1992),PathPlanningforSpaceManipulatorsExhibitingNonholonomicBehavior,Prof.ofIROS1992.K.yoshidaandK.Hashizume(2001),ZeroReactionManeuver:FlightVelifictionwithETS-VIISpaceRobotandExtentiontoKinematicallyRedundantArm,Proc.2001IEEEInt.Conf.onRoboticandAutomation,Seoul,Korea,2001.OmP.AgrawalandYangshengXu(1994),OntheGlobalOptimumPathPlanningforRedundantSpaceManipulators,IEEETransactiononSystem,Man,andCybernetics,Vol.24,No.9,September1994.HiroyukiNagamatus,etal.(1996),CaptureStrategyforRetrievalofaTublingSatellitebyaSpaceRoboticManipulator,Proc.ofICRA1996,Minneapolis,MinnesotaZhenghuaLuoandYoshiyukiSakawa(1990),ControlofSpaceManipulatorforCapturingaTumblingObject,Honlulu,Hawall,1990,pp.103-108.R.W.Longman,R.E.LindBerg,andM.F.Zedd(1987),Satellite-mountedRobotManipulators-NewkinematicsandReactionMomentCompensation,Int.J.RoboticsRes.,Vol.6,No.3,pp87-103,1987.Z.VafaandS.Dubowsky(1987),OntheDynamicsofManipulatorinSpaceUsingtheVirtualManipulatorApproach,Proc.ofICRA1987.YojiUmetaniandKazuyaYoshida(1989),ResolvedMotionRateControlofspacemanipulatorswithGeneralizedJacobianMatrix,IEEETransactiononRoboticsandAutomation,Vol.5No.3,June1989RobertE.Roberson(1997),RichardSchwertassek:Dynamicsofmultibodysystems,Berlin:Springer-verlag,1988JensWittenburg(1997):DynamicsofSystemsofRigidBodies,B.G.TeubnerStuttgart,1997Y.XuandT.Kanade(1992),SpaceRobotics:DynamicsandControl,KluwerAcademicPublishers,November1992,ISBN0-7929265-5.J.S.Y.Luh,M.W.WalkerandR.P.C.Paul(1980):On-LineComputationalSchemeformechanicalManipulators,Trans.ASMEJ.DynamicsSystems,MeasurementsandControl,vol120,pp.69-76,1980K.Yoshida(1997):AGeneralFormulationforUnder-ActuatedManipulators,''Proc.1997IEEE/RSJInt.Conf.onIntelligentRobotsandSystems,pp.1651-1957,Grenoble,France,1997AurelioPiazziandAntonioVisioli(1997),AGlobalOptimizationApproachtoTrajectoryPlanningforIndustrailRobots,Proc.OfIROS1997.標(biāo)題：空間機(jī)械手的跟蹤捕捉操作PanfengHuang1;YangshengXu2andBinLiang31航天大學(xué),西北工業(yè)大學(xué),中國(guó)2自動(dòng)化系和計(jì)算機(jī)輔助工程師3香港中文大學(xué)、香港4深圳空間技術(shù)中心、哈爾濱開(kāi)發(fā)技術(shù),中國(guó)Pfhuang@文摘：使用空間機(jī)器人拯救不受控制的旋轉(zhuǎn)的衛(wèi)星對(duì)未來(lái)的空間機(jī)器人是一個(gè)偉大的挑戰(zhàn)。本文主要提出一個(gè)空間機(jī)械臂軌跡規(guī)劃方法,它可以跟蹤、捕捉和靠近在自由浮動(dòng)情況下的uss。根據(jù)uss的運(yùn)動(dòng)特征,我們?yōu)榭臻g機(jī)械臂來(lái)捕捉在笛卡兒空間下的uss設(shè)了螺旋上升的軌跡。然而,它是很難在這個(gè)關(guān)節(jié)空間中映射軌跡,在關(guān)節(jié)空間實(shí)現(xiàn)可行的運(yùn)動(dòng)，這是由于動(dòng)力學(xué)奇異點(diǎn)和空間機(jī)器人的動(dòng)力學(xué)系統(tǒng)。因此,我們利用區(qū)間算法來(lái)處理這些困難。仿真研究驗(yàn)證螺旋上升軌跡可以被實(shí)現(xiàn)。此外機(jī)械手的運(yùn)動(dòng)是平穩(wěn)和順利的,對(duì)基地的干擾是如此有限,可以通過(guò)姿態(tài)控制來(lái)彌補(bǔ)它。關(guān)鍵詞:空間機(jī)械臂,跟蹤軌跡規(guī)劃算法,多項(xiàng)式,區(qū)間樣條函數(shù)1介紹：本文闡述了空間機(jī)械臂捕捉不受控制的旋轉(zhuǎn)的衛(wèi)星的軌跡規(guī)劃的問(wèn)題。對(duì)空間機(jī)器人系統(tǒng)而言在軌捕獲在未來(lái)的空間服務(wù)中是一個(gè)巨大挑戰(zhàn)。在過(guò)去的十年中空間機(jī)器人科學(xué)取得很大進(jìn)步。因此,為了在未來(lái)的空間中降低成本，對(duì)不受控制的衛(wèi)星在軌服務(wù)將是空間機(jī)器人的主要應(yīng)用。當(dāng)人類推出了首個(gè)太空機(jī)器人并操作它完成太空任務(wù),空間機(jī)器人開(kāi)始被利用在不同的空間去完成任務(wù)?，F(xiàn)在空間機(jī)器人是幫助構(gòu)建和維護(hù)國(guó)際空間站(ISS)和維修空間望遠(yuǎn)鏡。因此空間機(jī)器人對(duì)衛(wèi)星服務(wù)如救援、維修、加油是為了延長(zhǎng)衛(wèi)星壽命和降低成本,使之成為發(fā)展空間技術(shù)中最具吸引力的地區(qū)?？臻g機(jī)器人有可能在衛(wèi)星維修中發(fā)揮越來(lái)越重要角色。眾所周知空間機(jī)器人、航天飛機(jī)遠(yuǎn)程機(jī)械手系統(tǒng)(SRMS或“創(chuàng)意”)(D。Zimpferpehar和p.1996]是幫助宇航員捕獲衛(wèi)星。。美國(guó)國(guó)家航空航天局ts-61任務(wù)是,sts-82,sts-103在宇航員SRMS的幫助下修復(fù)哈勃太空望遠(yuǎn)鏡。日本展示了空間機(jī)械臂捕獲一個(gè)合作性衛(wèi)星，在展示過(guò)程中通過(guò)來(lái)自于地面控制站的電視操作演示(【我。,etal。1998],[Noriyasu稻,etal,2000]。所有上面提到的空間機(jī)器人技術(shù)演示了空間機(jī)器人為空間服務(wù)的實(shí)用性。然而他們的使用僅限于捕獲合作性的衛(wèi)星。例如,斯巴達(dá)人衛(wèi)星失去控制功能和旋轉(zhuǎn)在兩個(gè)度/秒。美國(guó)國(guó)家航空航天局sts-87試圖使用1997年SRMS抓住它,而SRMS未能捕捉該衛(wèi)星。因此,有價(jià)值的不受控制的衛(wèi)星的捕獲和恢復(fù)對(duì)未來(lái)的太空機(jī)器人而言是一個(gè)艱巨的任務(wù)。幾乎所有的衛(wèi)星服務(wù)任務(wù)的發(fā)生已經(jīng)被執(zhí)行艙外活動(dòng)(EVA)的宇航員用有限的空間機(jī)器人機(jī)械手的幫助所實(shí)現(xiàn)。對(duì)一個(gè)宇航員捕獲不受控制的旋轉(zhuǎn)的衛(wèi)星，它是非常昂貴和危險(xiǎn)的。另一方面,空間機(jī)器人技術(shù)的最近越來(lái)越先進(jìn)?？臻g機(jī)器人進(jìn)行這種衛(wèi)星的自動(dòng)的維修任務(wù)并依靠有限的人力支持。然而,捕捉第一步是如何跟蹤和靠近目標(biāo)衛(wèi)星。斯蒂芬·雅各布森etal(雅各布森,S。,etal。(2002)]計(jì)劃安運(yùn)動(dòng)學(xué)軌跡飛行機(jī)器人接近一個(gè)不受控制的旋轉(zhuǎn)衛(wèi)星,他們想如何用空間機(jī)器人在工作空間通過(guò)操縱機(jī)械手來(lái)操作和捕獲uss。因此,本文假定目標(biāo)衛(wèi)星是在工作空間的空間機(jī)械臂。它是可取的為空間機(jī)械臂捕獲目標(biāo)衛(wèi)星設(shè)計(jì)一個(gè)新的跟蹤方法。到目前為止,有許多研究機(jī)器人的空間軌跡的。S和m.a.托雷斯Dubowsky[S。Dubowsky和M。a·托雷斯(1991)]解決路徑規(guī)劃使空間機(jī)械手對(duì)空間基地的干擾達(dá)到最小化。Evangelos帕帕多普洛斯(E。Papadopouls(1992)]提出了空間機(jī)械臂的非完整行為計(jì)劃路徑。Kazuya吉田和K。Hashizume[K。吉田和k.Hashizume(2001)]利用ets七世作為一個(gè)例子提供零反應(yīng)機(jī)動(dòng)計(jì)劃?rùn)C(jī)械手的軌跡。和YangshengOmp.阿徐(Omp.Agrawal和Yangsheng徐(1994)]介紹全球最優(yōu)路徑規(guī)劃冗余空間機(jī)械手。所有上面提到的例子使空間機(jī)器人成為研究對(duì)象,從而來(lái)研究它的本質(zhì)特征。然而,事實(shí)上只有少數(shù)研究人員的工作致力于機(jī)械手捕捉失控衛(wèi)星軌跡規(guī)劃。etal[Nagamatus欲之,etal。(1996)提出了一個(gè)由空間機(jī)器人捕獲翻滾衛(wèi)星的策略。Zhenghua羅和sakawa富野由悠季[Zhenghua羅和富野由悠季Sakawa(1990)]討論了由機(jī)械手捕獲空間翻滾對(duì)象的控制定律。因此,如何規(guī)劃可行的跟蹤方案成為越來(lái)越重要的問(wèn)題。對(duì)于實(shí)例,ets機(jī)械手系統(tǒng)具有六自由度,機(jī)械手的這個(gè)六自由度基于不同空間手的軌跡規(guī)劃。2。問(wèn)題公式化到目前為止捕獲在軌uss并沒(méi)有成功的例子,作為一個(gè)典型的在軌操作。在這里,作者為了描述這個(gè)問(wèn)題主要假設(shè)一個(gè)捕獲操作。圖1顯示了一個(gè)跟蹤操作,其中一個(gè)空間機(jī)械手跟蹤和接近目標(biāo)衛(wèi)星。這個(gè)操作幾乎已經(jīng)解決了陸地機(jī)械操縱。然而,在空間環(huán)境中,機(jī)械操縱捕獲uss是非常困難的問(wèn)題,這是因?yàn)閯?dòng)力學(xué)和動(dòng)態(tài)奇異性的緣故,因此如果出現(xiàn)了錯(cuò)誤的軌跡,那么這個(gè)錯(cuò)誤就可能導(dǎo)致災(zāi)難性事件以及完全摧毀了空間機(jī)器人系統(tǒng)。另一方面,為空間機(jī)械手設(shè)計(jì)追蹤軌跡將是非常重要的問(wèn)題。本文將關(guān)注這個(gè)問(wèn)題。解決機(jī)器人軌跡規(guī)劃關(guān)鍵的是解決空間機(jī)械手的逆運(yùn)動(dòng)學(xué)問(wèn)題。機(jī)械臂運(yùn)動(dòng)學(xué)問(wèn)題的缺點(diǎn)正如朗文etal(R。w·朗文,r·e·林德伯格,m.f.Zedd(1987)]和Vafaetal(Z。Vafa和sDubowsky(1987)]在他們的論文中所提到的那樣,正運(yùn)動(dòng)學(xué)求解有顯著的困難。即，機(jī)械手末端的位置和方向沒(méi)有關(guān)閉形式的解決方案,因?yàn)樗麄兏鶕?jù)空間機(jī)械手配置的變化來(lái)依靠慣性屬性。因此,歷來(lái)的的姿勢(shì)變化必須被認(rèn)為是為了汲取解決方案,所有這些問(wèn)題使逆運(yùn)動(dòng)學(xué)變得更加困難。為了解決跟蹤軌跡問(wèn)題,根據(jù)uss和空間機(jī)械手的特點(diǎn)本文描述了一個(gè)跟蹤軌跡的情形。在第5部分中作了詳細(xì)的討論。2.2。假設(shè)在本文中,作者假設(shè)了一個(gè)空間機(jī)器人系統(tǒng)的模型,它是由一個(gè)航天基地和一個(gè)安裝在航天基地的機(jī)器人機(jī)械臂組成。圖2顯示了一個(gè)簡(jiǎn)單的空間機(jī)器人系統(tǒng)模型與單一機(jī)械手臂。為了澄清爭(zhēng)論點(diǎn),他們提出了以下假設(shè)。空間機(jī)器人系統(tǒng)由n+1個(gè)與n個(gè)活動(dòng)關(guān)節(jié)相聯(lián)系的鏈接組成,每個(gè)關(guān)節(jié)有一個(gè)轉(zhuǎn)動(dòng)自由度(自由度)，同時(shí)該關(guān)節(jié)是可控制的。該空間基地的整體位置是可控制的，而各個(gè)部位卻不是可控制的。b)沒(méi)有機(jī)械的限制和外部力量作用在空間機(jī)械臂系統(tǒng)上,即重力忽視。所以,機(jī)械系統(tǒng)的總動(dòng)量是守恒的。運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析是在運(yùn)動(dòng)的慣性坐標(biāo)系統(tǒng)中進(jìn)行的。因此,空間機(jī)械手系統(tǒng)在慣性坐標(biāo)中的自由度是n+6,這是因?yàn)榭臻g基地的姿勢(shì)有三個(gè)自由度,而空間基地的位置也有三個(gè)自由度,其中n代表了自由度數(shù)目。c)簡(jiǎn)化如下,整個(gè)系統(tǒng)是由剛體組成,因此,空間機(jī)械臂系統(tǒng)被認(rèn)為一種由n+1剛體組成的機(jī)械鏈。d)uss的運(yùn)動(dòng)狀態(tài)的可以被空間機(jī)器人系統(tǒng)的傳感器估計(jì)。Uss處于旋轉(zhuǎn)狀態(tài)下的主要參數(shù)是根據(jù)uss的動(dòng)力學(xué)