空间站机械臂任务规划方法OA北大核心CSTPCD

Task planning technology is the core and key technology in the execution process of space missions.In response to the characteristics of space station robotic arms,e.g.,limited extraterrestrial autonomous behavior,diverse behavior,numerous branches,multi-type constraints,and multiple resource constraints,the task planning method for space station manipulator is studied.The task requirements are analyzed to form a monthly event.The ground engineer provides suggestions for decomposing the task into subtasks,decomposing the monthly event into flight control events with logical relationships.The flight control event set describes different behaviors and modes of the spacecraft,and the flight control events under each mode are composed of control actions or control action sequences.A hierarchical planning object model is established.At the same time,a state space set is constructed to describe the time-varying on-board states and state values,and a state inference model is established at the flight control event layer and control action sequence layer.Besides,multiple constraint logic expressions are used to describe the joint constraints and normalize the design of motion control events.Under time scheduling and resource constraints,the iterative solutions are performed in the planner to generate ground control action sequences,achieve task objectives,and be used for the task implementation.The correctness and efficiency of the proposed method are verified in the on-orbit mission of the space station manipulator.