双臂空间机器人捕获运动目标的自主路径规划

doi:10.3724/SP.J.1218.2012.00704

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引用本文:
徐文福, 刘厚德, 李成, 张金涛, 梁斌 . 双臂空间机器人捕获运动目标的自主路径规划[J]. 机器人, 2012, 34(6): 704-714,736.DOI: 10.3724/SP.J.1218.2012.00704. XU Wenfu, LIU Houde, LI Cheng, ZHANG Jintao, LIANG Bin. Autonomous Path Planning of Dual-arm Space Robot for Capturing Moving Target. ROBOT, 2012, 34(6): 704-714,736. DOI: 10.3724/SP.J.1218.2012.00704.

摘要

针对双臂空间机器人系统捕获运动目标的规划问题，提出了自由漂浮和基座姿态受控两种模式下的自主路径规划方法．首先根据手眼相机测量结果，规划各机械臂末端的运动速度，然后采用阻尼最小二乘法求解所推导的微分运动学方程，得出各关节的期望角度和期望角速度，作为关节控制器的输入，直到满足抓捕条件．最后建立了双臂空间机器人系统的多体动力学模型并开展仿真研究，仿真结果证明了所提方法的有效性．

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关键词 ：空间机器人, 双臂协调, 目标捕获, 路径规划

Abstract：

For the case of dual-arm space robotic system capturing moving target, an autonomous path planning method is proposed corresponding to the two modes, i.e. the free-floating mode and the base attitude controlled mode. Firstly, the end-effector velocities of each arm are planned according to the hand-eye cameras’ measurement. Then, the damped least squares (DLS) algorithm is used to solve the differential kinematics equations derived in this paper, and the desired angle and rate of each joint are determined. These desired values are utilized as the inputs of joint controllers. The process above will not end until the capturing condition is satisfied. Finally, the multi-body dynamic model of a dual-arm space robotic system is developed and simulation study is carried out. The simulation results verify the proposed methods.

Key words： space robot dual-arm coordination target capturing path planning

收稿日期: 2012-04-20 录用日期: 2012-10-29

TP24

基金资助:

国家自然科学基金资助项目（61175098）；航天科技创新基金资助项目（CASC201102）

通讯作者: 徐文福 E-mail: wfxu@hit.edu.cn

作者简介: 徐文福（1979-），男，博士，副教授．研究领域：空间机器人，视觉伺服控制．
刘厚德（1984-），男，博士生．研究领域：空间机器人，动力学与控制．
李成（1972-），男，博士，教授．研究领域：空间机器人，微小卫星技术．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00704 或 https://robot.sia.cn/CN/Y2012/V34/I6/704

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