基于hp自适应伪谱法的空间机器人路径规划

doi:10.13973/j.cnki.robot.170461

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (610 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
曾祥鑫, 崔乃刚, 郭继峰. 基于hp自适应伪谱法的空间机器人路径规划[J]. 机器人, 2018, 40(3): 385-392.DOI: 10.13973/j.cnki.robot.170461. ZENG Xiangxin, CUI Naigang, GUO Jifeng. Path Planning of Space Robot Based on hp-Adaptive Pseudospectral Method. ROBOT, 2018, 40(3): 385-392. DOI: 10.13973/j.cnki.robot.170461.

摘要针对空间机器人运动过程中基座姿态产生较大扰动的问题，基于hp自适应高斯伪谱法提出了一种以基座所受反作用力矩最小为目标函数的空间机器人路径规划方法.首先，综合考虑空间机器人运动过程中存在的关节角度约束、关节角速度约束、控制力矩约束及初始状态和终端状态约束等约束条件，将空间机器人路径规划问题看成满足一系列约束条件和边界条件并实现特定性能指标最优的最优控制问题.其次，结合hp自适应高斯伪谱法（hp-AGPM）与非线性规划技术，求解带有边界约束和路径约束的优化控制问题，得到满足约束且性能指标最优的空间机器人运动轨迹.最后，以平面2自由度空间机械臂为例对所设计方法进行仿真验证，并与其他伪谱法进行对比分析.仿真结果表明：本文算法能在10.6 s的时间内规划出满足各约束条件且容许偏差低于10^-6的最优运动轨迹，并且在计算速度和配点数量上都优于其他伪谱法.

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	曾祥鑫
	崔乃刚
	郭继峰

关键词 ：空间机器人, hp自适应伪谱法, 路径规划, 最优控制

Abstract：For the problem that the motion of the space robot will cause a large disturbance to the attitude of the base, a path planning method based on hp-adaptive Gauss pseudospectral method is proposed, in which the minimum reaction torque of the base is taken as the objective function. Firstly, the path planning problem of the space robot is regarded as an optimal control problem which meets the boundary condition and a series of path constraints including joint angle constraint, joint angular velocity constraint, control torque constraint and initial and terminal state constraints, and simultaneously minimizes a special performance index. Secondly, the optimal problem with boundary constraints and path constraints is solved by combining the hp-adaptive Gauss pseudospectral method (hp-AGPM) and the nonlinear programming technique, and a space robot trajectory satisfying the constraints and the optimal performance index is obtained. Finally, a planar two degree-of-freedom space manipulator is taken as an example to simulate and verify the designed method, and different pseudospectral methods are compared and analyzed. The simulation results show that the proposed method can generate an optimal trajectory satisfying all constraints in 10.6 s with the tolerance less than 10^-6, and is better than other pseudospectral methods both in computation speed and the number of collocation points.

Key words： space robot hp-adaptive pseudospectral method path planning optimal control

收稿日期: 2017-07-30 录用日期: 2017-09-29

TP24

基金资助:国家863计划（2015BAF09B02）；国家自然科学基金（11472090）.

通讯作者: 曾祥鑫,13b918043@hit.edu.cn E-mail: 13b918043@hit.edu.cn

作者简介: 曾祥鑫(1988-),男,博士生.研究领域:空间机器人技术,飞行器制导与控制;
崔乃刚(1965-),男,博士,教授.研究领域:导弹及空间飞行器飞行力学,制导与控制,滤波理论及应用;
郭继峰(1977-),男,博士,教授.研究领域:空间在轨装配任务规划,无人飞行系统自主智能控制,飞行器均衡设计理论.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170461 或 https://robot.sia.cn/CN/Y2018/V40/I3/385

[1] 崔乃刚,王平,郭继峰,等.空间在轨服务技术发展综述[J].宇航学报,2007,28(4):805-811. Cui N G, Wang P, Guo J F, et al. A review of on-orbit servicing[J]. Journal of Astronautics, 2007, 28(4):805-811.
[2] Flores-Abad A, Ma O, Pham K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68:1-26.
[3] Betts J T. Survey of numerical methods for trajectory optimization[J]. Journal of Guidance, Control, and Dynamics, 1988, 21(2):193-207.
[4] 杨希祥,张为华.基于Gauss伪谱法的固体运载火箭上升段轨迹快速优化研究[J].宇航学报,2011,32(1):15-21. Yang X X, Zhang W H. Rapid optimization of ascent trajectory for solid launch vehicles based on Gauss pseudospectral method[J]. Journal of Astronautics, 2011, 32(1):15-21.
[5] Carr R W, Jorris T R, Paulson E J. Multidisciplinary design optimization for a reusable launch vehicle using multiple-phase pseudospectral optimization[C]//53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference. Reston, USA:AIAA, 2012:No.2012-1350.
[6] Gogu C, Matsumura T, Haftka R, et al. Aero-assisted orbital transfer vehicle trajectory optimization considering thermal protection system weight[C]//46th AIAA Aerospace Sciences Meeting and Exhibit. Reston, USA:AIAA, 2008:19pp.
[7] Huntington G T, Rao A V. Optimal reconfiguration of spacecraft formations using the Gauss pseudospectral method[J]. Journal of Guidance, Control, and Dynamics, 2008, 31(3):689-698.
[8] 廖一寰,李道奎,唐国金.基于混合规划策略的空间机械臂运动规划研究[J].宇航学报,2011,32(1):98-103. Liao Y H, Li D K, Tang G J. Motion planning of space manipulator system based on a hybrid programming strategy[J]. Journal of Astronautics, 2011, 32(1):98-103.
[9] 刘海涛,杨乐平,张青斌,等.基于Gauss伪谱法的自由漂浮空间机器人运动规划研究[C]//第三十一届中国控制会议. Piscataway, USA:IEEE, 2012:4825-4829. Liu H T, Yang L P, Zhang Q B, et al. Motion planning of free-floating space robot based on Gauss pseudo-spectral method[C]//31st Chinese Control Conference. Piscataway, USA:IEEE, 2012:4825-4829.
[10] Crain A, Ulrich S. Nonlinear optimal trajectory planning for free-floating space manipulators using a Gauss pseudospectral method[C]//AIAA/AAS Astrodynamics Specialist Conference. Reston, USA:AIAA, 2016:16pp.
[11] Darby C L, Hager W W, Rao A V. An improved adaptive hp algorithm using pseudospectral methods for optimal control[C]//AIAA Guidance, Navigation, and Control Conferences. Reston, USA:AIAA, 2010:14pp.
[12] Darby C L, Hager W W, Rao A V. An hp-adaptive pseudospectral method for solving optimal control problems[J]. Optimal Control Applications & Methods, 2011, 32(4):476-502.
[13] Darby C L, Hager W W, Rao A V. Direct trajectory optimization using a variable low-order adaptive pseudospectral method[J]. Journal of Spacecraft and Rockets, 2011, 48(3):433-445.
[14] Xu Y S, Kanade T. Space robotics:Dynamics and control[M]. New York, USA:Springer, 1993:165-204.