双臂空间机器人的通用运动学路径规划算法

提出了一种基于通用运动学模型的双臂空间机器人在自由浮游状态下捕捉目标并避免碰撞障碍物的路径规划算法。过去的双臂空间机器人路径规划问题主要研究双臂的避碰问题 ,而忽略了机器人本体的避碰问题。实际上 ,当机械臂运动时 ,机器人本体也在相对运动 ,这个相对运动随机械臂质量与本体质量之比的增大而增大。利用通用运动学模型计算出双臂空间机器人的各点 (包括本体 )的速度 ,并在路径规划过程中根据机器人本体的速度计算出本体平动的距离 ,克服这个平动来避免与障碍物碰撞。最后 ,通过路径规划算法的计算机仿真结果证明了所提出路径规划算法的可行性

The Path Planning of Dual-Arm Space Robot Based on the General Kinematics Model

On the basis of general kinematics model, a collision-free path planning algorithm of dual-arm free-floating space robot (DFFSR) is proposed. The collision question of two arms is mainly studied in the conventional path plan of DFFSR, while the collision avoidance of main body is ignored. In fact, the main body of DFFSR makes respective movement while the manipulator moves. The bigger the ratio of manipulator to main body is, the bigger the movement is. The velocity of each point (inclusive of main body) is calculated by using the general kinematics model, and the movement of main body is calculated according to the velocity of main body during the path planning. The collision with obstacle can be avoided by compensating the movement. Finally, the feasibility of the proposed path planning algorithm is proved by the result of computer simulation.