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闭环双臂空间机器人系统运动规划的双向逼近方法
引用本文:郭益深,陈力.闭环双臂空间机器人系统运动规划的双向逼近方法[J].力学与实践,2007,29(5):7-11.
作者姓名:郭益深  陈力
作者单位:福州大学机械工程及自动化学院 福州 350002 福州大学机械工程及自动化学院 福州 350002
基金项目:国家自然科学基金,福建省自然科学基金
摘    要:讨论了载体位置、姿态均不受控制的闭环双臂空间机器人系统的非完整运动规划问题. 以系统动量、动量矩守恒关系及几何约束条件为基础,建立了控制设计所需的系统状态方程; 并通过对状态方程应用双向Lyapunov方法,获得了机械臂关节角的控制输入方程,从而达到 对载体姿态及机械臂关节角的双重控制效果. 该方法的优点是减少了载体姿态控制燃料的消 耗,有效地延长了空间机器人系统的使用寿命. 通过一个平面自由漂浮闭环双臂空间机器人系统 的数值仿真,证明了方法的有效性.

关 键 词:自由漂浮  闭环双臂空间机器人系统  双向逼近方法  非完整运动规划
收稿时间:2006-9-28
修稿时间:2006-09-282007-09-07

BI-DIRECTIONAL APPROACH OF MOTION PLANNING OF CLOSED-LOOP SPACE ROBOT SYSTEM WITH DUAL-ARMS
GUO Yishen,CHEN Li.BI-DIRECTIONAL APPROACH OF MOTION PLANNING OF CLOSED-LOOP SPACE ROBOT SYSTEM WITH DUAL-ARMS[J].Mechanics and Engineering,2007,29(5):7-11.
Authors:GUO Yishen  CHEN Li
Institution:College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China
Abstract:The nonholonomic motion planning of free-floating closed-loop space robot system with dual-arms is discussed in this paper.Based on the relation of the linear,angular momentum conservation and the geometric constraints of the system,the state equation of the system is established for the design of the control system. And applying the bi-directional Lyapunov approach to the state equation,the control input equation of the arms' joints is obtained to control both the base attitude and the arms' joints.Because no continuous trajectory from the start point to the end point in the state space can complete the desired task,a synthesized trajectory is obtained to accomplish the desired task through the bi-directional approach.The advantage of the approach is the decrease of the fuel consumption for controlling the base attitude and the increase of the available life-span of the space robot system.A planar closed-loop space robot system with dual-arms is simulated to verify the proposed approach.
Keywords:free-floating  closed-loop space robot system with dual-arms  bi-directional approach  nonholonomic motion planning
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