Modeling and Simulation of Continual Motion Trajectory Control for Space Robot
LI Hua-zhong1, Liang Yong-sheng1, HONG Bing-rong2
1. Department of Software Engineering, Shenzhen Institute of Information Technology, Shenzhen 518029, China; 2. Department of Computer, Harbin Institute of Technology, Harbin 150006, China
李华忠, 梁永生, 洪炳熔. 空间机器人连续运动轨迹控制建模和仿真研究[J]. 机器人, 2008, 30(5): 410-415..
LI Hua-zhong, Liang Yong-sheng, HONG Bing-rong. Modeling and Simulation of Continual Motion Trajectory Control for Space Robot. ROBOT, 2008, 30(5): 410-415..
Abstract：Based on the common D-H modeling methods for ground robot and the conservation of momentum and conservation of angular momentum suitable for SR(space robot),continuous motion trajectory control modeling algorithm for SR is developed.First,kinematics model for SR is developed based on the idea of the ground-based Jacobian and D-H method.Second,an effective algorithm for controlling continuous motion trajectory and calculating generalized Jacobian matrix is developed for SR.Finally,validity of the algorithms proposed is verified through the computer simulation.The SR conceptual model and kinematics model based on the D-H method in this paper can be extended to any SR with tree structure link containing rotary joints and translational joints.
[1] Umetani Y,Yoshida K.Continuous path control of space manipulators mounted on OMV[J].Acta Astronautica,1987,15(12):981～986.
[2] Orin D E,Schrader W W.Efficient computation of the Jacobian for robot manipulators[J].The International Journal of Robotics Research,1984,3(4):1099～1114.
[3] Walker M W,Orin D E.Efficient dynamic computer simulation of robotic mechanisms[J].Journal of Dynamic Systems,Measurement and Control,Transactions of the ASME,1982,104(3):205～211.
[4] Masutani Y,Miyazaki F,Arimoto S.Sensory feedback control for space manipulators[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1989.1346～1351.
[5] 洪炳熔,李华忠.自由飞行空间机器人的关节驱动力矩求解算法[J].机器人,1999,2l(5):328～334.Hong Bing-rong,Li Hua-zhong.Computiation algorithm of joint driven torque for free flying space robots[J].Robot,1999,21(5):328～334.
[6] 李华忠,洪炳熔.基于关节驱动力矩的自由飞行空间机器人捕捉目标控制算法[J].机器人,2000,22(3):161～168.Li Hua-zhong.Hong Bing-rong.Control algorithm based on joint driven torque to capture target for free flying space robots[J].Robot,2000,22(3):161～168.
[7] 李华忠,杨维萍,柳长安.基于虚拟现实的空间机器人共享控制系统及其仿真[J].宇航学报,2000,21(3):100～105.Li Hua-zhong,Yang Wei-ping,Liu Chang-an.Shared control system and its simulation based on virtual reality[J].Journal of Astronautics,2000,21(3):100～105.
[8] Vafa Z,Dubowsky S.Kinematics and dynamics of space manipulators:The virtual manipulator approach[J].The International Journal of Robotics Research,1990,9(4):3～21.
[9] Papadopoulos E,Dubowsky S.On the nature of control algorithms for space manipulators[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1990.1102～1108.
