[1]金明河,刘子琦,周 诚.冗余空间机器人基座姿态无扰动路径规划[J].机械与电子,2016,(12):76-80.
　JIN Minghe,LIU Ziqi,ZHOU Cheng.Attitude-free Path Planning of Redundant Space Robot Base[J].Machinery & Electronics,2016,(12):76-80.
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冗余空间机器人基座姿态无扰动路径规划
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2016年12期
页码:
76-80
栏目:
智能工程
出版日期:
2016-12-20

文章信息/Info

Title:
Attitude-free Path Planning of Redundant Space Robot Base
文章编号:
1001-2257(2016)12-0076-05
作者:
金明河; 刘子琦; 周 诚
(哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001)
Author(s):
JIN Minghe; LIU Ziqi; ZHOU Cheng
(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)
关键词:
冗余空间机器人;  基座姿态无扰动;  奇异鲁棒算法;  数值仿真系统
Keywords:
redundant space robot;  base attitude reactionless;  singularity robust algorithm;  numerical simulation system
分类号:
TP24
文献标志码:
A
摘要:
在研究冗余空间机器人基座姿态无扰动路径规划以实现在空间机器人末端进行连续路径跟踪的过程中基座姿态无扰动。提出一种具有奇异鲁棒特性的反作用零空间算法以完成冗余空间机器人关节运动与基座姿态扰动的解耦控制,其克服了传统基于反作用零空间算法中的算法奇异问题,且结合奇异鲁棒逆以及变阻尼系数克服动力学奇异,进而得到奇异鲁棒的空间机器人基座姿态无扰动路径规划算法。建立基于MATLAB/Simulink的空间机器人数值仿真系统以验证所提出算法的实用性以及可靠性,仿真结果表明提出的算法具有可行性。
Abstract:
This paper studied the attitude reactionless path planning of redundant space robot base to achieve the undisturbed base attitude in the process of continuous path tracking at the terminal of space robot. A singularity robust based reaction-null-space algorithm was proposed to achieve the decoupling control of joint motion and the base attitude disturbance. This proposed algorithm overcame the algorithmic singularity problem in the classical reaction-null-space method, and the singularity robust inverse and variable damping factor were adopted to conquer the dynamics singularity in the path planning algorithm, hence a singularity robust algorithm to achieve the base attitude adjustment was derived. Furthermore, the MATLAB/Simulink based numerical simulation system was built to verify the practicability and reliability of the proposed algorithm. The simulation results demonstrated the feasibility of the proposed method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2016-09-19
基金项目:国家重点基础研究发展计划(2013CB733103)
作者简介:金明河(1970-),男,辽宁盘锦人,博士,教授,研究方向为机器人技术; 刘子琦(1993-),女,山东青岛人,硕士研究生,研究方向为机器人路径规划; 周 诚(1989-),男,安徽合肥人,博士研究生,研究方向为空间机器人动力学建模,路径规划与控制。
更新日期/Last Update: 1900-01-01