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基于能力评估的空间翻滚目标抓捕策略优化

许若男 罗建军 王明明

许若男, 罗建军, 王明明. 基于能力评估的空间翻滚目标抓捕策略优化. 力学学报, 2021, 53(10): 2856-2866 doi: 10.6052/0459-1879-21-436
引用本文: 许若男, 罗建军, 王明明. 基于能力评估的空间翻滚目标抓捕策略优化. 力学学报, 2021, 53(10): 2856-2866 doi: 10.6052/0459-1879-21-436
Xu Ruonan, Luo Jianjun, Wang Mingming. Optimal grasping strategy of space tumbling target based on manipulability. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(10): 2856-2866 doi: 10.6052/0459-1879-21-436
Citation: Xu Ruonan, Luo Jianjun, Wang Mingming. Optimal grasping strategy of space tumbling target based on manipulability. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(10): 2856-2866 doi: 10.6052/0459-1879-21-436

基于能力评估的空间翻滚目标抓捕策略优化

doi: 10.6052/0459-1879-21-436
基金项目: 深圳市科技研发资金(JCYJ20190806154412671)与国家自然科学基金项目(61973256, 61690212)资助
详细信息
    作者简介:

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

  • 中图分类号: TU411.01

OPTIMAL GRASPING STRATEGY OF SPACE TUMBLING TARGET BASED ON MANIPULABILITY

  • 摘要: 由于目标的翻滚运动, 空间双臂机器人对动态目标的抓捕相比于静态目标更具有挑战性. 对抓捕策略进行优化可以提高空间双臂机器人对翻滚目标的操作能力以保证任务的成功. 本文提出了一种基于能力评估的抓捕策略优选方法. 空间双臂机器人捕获目标时, 双臂末端执行器与目标同时接触形成闭链系统, 闭链约束的引入使操作能力的评估更加复杂. 在对双臂空间机器人协调操作翻滚目标的运动学与动力学分析基础上, 建立了考虑闭链约束的协调工作空间, 并分析了基于任务兼容度的消旋能力评估指标. 建立的协调工作空间同时包含位置和姿态信息, 可以用于灵巧度的计算. 接着, 基于协调工作空间的全局灵巧度指标确定机械臂末端执行器对目标的最优抓捕点, 以及考虑相机视角约束和末端执行器对目标速度跟踪约束下的力任务兼容度指标确定空间双臂机器人捕获翻滚目标时的最优抓捕构型. 利用能力评估确定抓捕策略可以充分利用双臂的协调性以增加对动态目标的操作能力, 通过仿真验证了所提抓捕策略的可行性和有效性.

     

  • 图  1  工作空间参考坐标系

    Figure  1.  Reference frames for workspace

    图  2  任务空间位姿离散

    Figure  2.  Task space’s pose discretization

    图  3  任务空间机械臂末端执行器位姿表示

    Figure  3.  Pose of end-effector described in task space

    图  4  工作空间生成算法流程图

    Figure  4.  Flow chart of workspace generation algorithm

    图  5  任务空间目标位姿表示

    Figure  5.  Pose of target described in task space

    图  6  目标上可行抓捕点

    Figure  6.  Feasible grasping poses on target

    图  7  相机视角约束

    Figure  7.  Field of view constraint of camera

    图  8  空间双臂机器人抓捕目标

    Figure  8.  Dual-arm space robot grasping a target

    图  9  左臂工作空间

    Figure  9.  Workspace of left-arm

    图  10  协调工作空间($ {{\boldsymbol{m}}_{\text{c}}} = \left[ {0.2,6,12,12} \right] $)

    Figure  10.  Cooperative workspace($ {{\boldsymbol{m}}_{\text{c}}} = \left[ {0.2,6,12,12} \right] $)

    图  11  协调工作空间($ {{\boldsymbol{m}}_{\text{c}}} = \left[ {0.4,6,12,12} \right] $)

    Figure  11.  Cooperative workspace (${{\boldsymbol{m}}_{\text{c}}} = \left[ {0.4,6,12,12} \right]$)

    图  12  不同抓捕点的灵巧度

    Figure  12.  Dexterity of different grasping points

    图  13  抓捕点为(P2,P4)的灵巧度能力图谱

    Figure  13.  Dexterity capability map for grasping (P2,P4)

    图  14  任务兼容度与目标惯量的关系

    Figure  14.  The relationship between task compatibility and target inertia parameter

    图  15  速度任务兼容度能力图谱

    Figure  15.  Capability map of velocity task compatibility

    图  16  力任务兼容度能力图谱

    Figure  16.  Capability map of force task compatibility

    图  17  约束力任务兼容度能力图谱

    Figure  17.  Capability map of force task compatibility under constraints

    图  18  抓捕翻滚目标时的抓捕点和抓捕构型

    Figure  18.  Grasping points and configuration for grasping tumbling target

    表  1  可行抓捕点相对于目标坐标系位姿

    Table  1.   Feasible grasping poses relative to target frame

    GPPosition(m)attitude
    P1 [−1.22 0 0.58] [0 0 1;1 0 0;0 1 0]
    P2 [−1.22 0.35 0.18] [0 0 1;0 1 0; −1 0 0]
    P3 [−1.22 0 −0.22] [0 0 1; −1 0 0;0 −1 0]
    P4 [−1.22 −0.35 0.18] [0 0 1;0 −1 0;1 0 0]
    P5 [−1.22 0 1.08] [0 0 1;1 0 0;0 1 0]
    P6 [−1.22 0.75 0.18] [0 0 1;0 1 0; −1 0 0]
    P7 [−1.22 0 −0.72] [0 0 1; −1 0 0;0 −1 0]
    P8 [−1.22 −0.75 0.18] [0 0 1;0 −1 0;1 0 0]
    下载: 导出CSV

    表  2  双臂末端执行器协调操作的可行抓捕点对

    Table  2.   Feasible grasping point pairs for dual-arm end-effectors cooperative manipulation

    GPP1P2P3P4P5P6P7P8
    P1 ×
    P2 ×
    P3 ×
    P4 ×
    P5 ×
    P6 ×
    P7 ×
    P8 ×
    下载: 导出CSV

    表  3  空间机器人系统的运动学和动力学参数

    Table  3.   Kinematic and dynamic parameters of system

    Joint$ a,{\rm{m}}$$ \alpha,{\rm{deg}}$$ b,{\rm{m}}$$ q,{\rm{deg}}$$ {\rm{m}},{\rm{kg}}$$ I_{{xx}}, {\rm{kg}}\cdot {\rm{m}}^2$$ I_{{yy}}, {\rm{kg}}\cdot {\rm{m}}^2$$ I_{{zz}}, {\rm{kg}}\cdot {\rm{m}}^2$
    02.520±0.4460400128340340
    10$ \mp $900$ q_1^j$30.00410.00410.0096
    20−900.168$ q_2^j$81.38240.02561.3824
    30901.450$ q_3^j$20.00470.00640.0047
    40900.168$ q_4^j$60.87120.01920.8712
    50901.290$ q_5^j$20.00470.00640.0047
    60−900.168$ q_6^j$20.00470.00470.0064
    70900.44$ q_7^j$40.06450.06450.0128
    Target100505050
    下载: 导出CSV
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  • 收稿日期:  2021-08-31
  • 录用日期:  2021-09-29
  • 网络出版日期:  2021-09-29

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