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基于Clamped B样条的空间非合作目标抓捕策略研

王明明 罗建军 余敏

王明明, 罗建军, 余敏. 基于Clamped B样条的空间非合作目标抓捕策略研[J]. 力学学报, 2021, 53(2): 524-538. doi: 10.6052/0459-1879-20-114
引用本文: 王明明, 罗建军, 余敏. 基于Clamped B样条的空间非合作目标抓捕策略研[J]. 力学学报, 2021, 53(2): 524-538. doi: 10.6052/0459-1879-20-114
Wang Mingming, Luo Jianjun, Yu Min. AN OPTIMAL GRASP PLANNER FOR SPACE ROBOTS USING CLAMPED B-SPLIE[J]. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(2): 524-538. doi: 10.6052/0459-1879-20-114
Citation: Wang Mingming, Luo Jianjun, Yu Min. AN OPTIMAL GRASP PLANNER FOR SPACE ROBOTS USING CLAMPED B-SPLIE[J]. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(2): 524-538. doi: 10.6052/0459-1879-20-114

基于Clamped B样条的空间非合作目标抓捕策略研

doi: 10.6052/0459-1879-20-114
基金项目: 1) 深圳市科技研发资金(JCYJ20190806154412671);国家自然科学基金资助项目(61973256);国家自然科学基金资助项目(61690212)
详细信息
    作者简介:

    2) 王明明,副教授,主要研究方向: 空间机器人学. E-mail: mwang@nwpu.edu.cn

    通讯作者:

    王明明

  • 中图分类号: TU411.01

AN OPTIMAL GRASP PLANNER FOR SPACE ROBOTS USING CLAMPED B-SPLIE

  • 摘要: 空间机械臂技术是未来实施在轨服务与维护任务的关键技术之一. 利用机械臂对空间非合作目标, 特别是翻滚目标的抓捕仍然存在巨大的挑战. 本文提出一种基于Clamped B样条的空间非合作目标抓捕策略方案. 在对非合作目标与空间机械臂运动学与动力学分析的基础上, 结合非合作目标被空间机械臂抓捕后的动静态对偶性分析, 构建抓捕后的力可操作度椭球作为抓捕策略设计的优化指标. 其次, 考虑目标的运动预测和空间机械臂的抓捕能力图谱构建, 确定空间机械臂应对目标的最优抓捕时机与抓捕终端状态. 基于Clamped B样条对空间机械臂各关节轨迹进行时间归一化参数描述, 并对抓捕过程中的机械臂关节角、速度、避撞、抓捕走廊等约束进行数学变换, 最终将抓捕策略转换为多约束、多目标的非线性优化问题, 利用自适应惯性权重的粒子群优化算法进行求解. 将所设计的抓捕策略应用于空间七自由度运动学冗余机械臂, 实现了对空间中翻滚目标的成功捕获, 验证了所提抓捕策略的可行性与有效性.

     

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出版历程
  • 收稿日期:  2020-04-14
  • 刊出日期:  2021-02-10

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