机器人2012，Vol.34Issue(6)：704-714,736,12.DOI:10.3724/SP.J.1218.2012.00704
双臂空间机器人捕获运动目标的自主路径规划
Autonomous Path Planning of Dual-arm Space Robot for Capturing Moving Target
摘要
Abstract
For the case of dual-arm space robotic system capturing moving target, an autonomous path planning method is proposed corresponding to the two modes, i.e. the free-floating mode and the base attitude controlled mode. Firstly, the end-effector velocities of each arm are planned according to the hand-eye cameras' measurement. Then, the damped least squares (DLS) algorithm is used to solve the differential kinematics equations derived in this paper, and the desired angle and rate of each joint are determined. These desired values are utilized as the inputs of joint controllers. The process above will not end until the capturing condition is satisfied. Finally, the multi-body dynamic model of a dual-arm space robotic system is developed and simulation study is carried out. The simulation results verify the proposed methods.关键词
空间机器人/双臂协调/目标捕获/路径规划Key words
space robot/ dual-arm coordination/ target capturing/ path planning分类
信息技术与安全科学引用本文复制引用
徐文福,刘厚德,李成,张金涛,梁斌..双臂空间机器人捕获运动目标的自主路径规划[J].机器人,2012,34(6):704-714,736,12.基金项目
国家自然科学基金资助项目(61175098) （61175098）
航天科技创新基金资助项目(CASC201102). （CASC201102）
