基于控制变量参数化方法的自由漂浮空间机器人路径规划
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摘要
针对自由漂浮空间机器人传统路径规划方法对基座卫星扰动较大的问题,提出了一种基于控制变量参数化的路径规划方法。该方法将路径规划问题转化成以基座姿态扰动最小为目标函数并满足一系列约束条件的最优控制问题,并采用控制变量参数化方法进行离散化处理,将最优控制问题转化成求解非线性规划问题,并给出了完整的理论收敛性证明,从而准确地估计出自由漂浮空间机器人末端执行器的最优路径。仿真结果表明,与传统的分解加速度方法相比,该方法得到的运动路径所引起的基座卫星姿态扰动为0.104rad,相比传统方法降低了17.53%,验证了所提路径规划方法的有效性与最优性。
Traditional path planning methods of a free-floating space robot cause severe disturbance to the base satellite.To solve this problem,apath planning method based on the parameterization of control variables is proposed.This method transforms the path planning problem into an optimal control problem using minimum base posture disturbance as an objective function along with a series of constraints.The control variable parameterization method is used to discretize the problem,and the optimal control problem is transformed into a nonlinear programming problem.In addition,a complete theoretical convergence proof is provided.Thus,the optimal path of the end effector of the free-floating space robot can be accurately estimated.The simulation results indicate that the attitude disturbance of the base satellite caused by the motion path of the proposed method is 0.104 rad,which is 17.53%lower than that of the traditional method of decomposition acceleration,which verifies the effectiveness and optimality of the proposed path planning method.
Traditional path planning methods of a free-floating space robot cause severe disturbance to the base satellite.To solve this problem,apath planning method based on the parameterization of control variables is proposed.This method transforms the path planning problem into an optimal control problem using minimum base posture disturbance as an objective function along with a series of constraints.The control variable parameterization method is used to discretize the problem,and the optimal control problem is transformed into a nonlinear programming problem.In addition,a complete theoretical convergence proof is provided.Thus,the optimal path of the end effector of the free-floating space robot can be accurately estimated.The simulation results indicate that the attitude disturbance of the base satellite caused by the motion path of the proposed method is 0.104 rad,which is 17.53%lower than that of the traditional method of decomposition acceleration,which verifies the effectiveness and optimality of the proposed path planning method.
引文
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[6]XU W,LIANG B,XU Y.Survey of modeling,planning,and ground verification of space robotic systems[J].Acta Astronautica,2011,68(11):1629-1649.
[7]DUBOWSKY S,PAPADOPOULOS E.The kinematics,dynamics,and control of free-flying and free-floating space robotic systems[J].IEEETransactions on Robotics and Automation,1993,9(5):531-542.
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[10]曾祥鑫,关英姿,晏卓,等.自由漂浮空间机器人最小基座扰动路径规划[J].光学精密工程,2017,25(12):67-73.ZENG X X,GUAN Y Z,YAN ZH,et al..Path planning for minimizing base disturbance of freefloating space robot[J].Opt.Precision Eng.,2017,25(12):67-73.(in Chinese)