论文标题
自由浮动太空机器人的最佳预定时间轨迹计划
Optimal Predefined-time Trajectory Planning for a Free-floating Space Robot
论文作者
论文摘要
随着人类太空探索的发展，空间环境逐渐充满了废弃的卫星碎片和未知的微型历史，这将严重影响太空机器人的捕获运动。因此，将主要研究具有双臂自由浮动空间机器人（FFSR）的新型快速避免轨迹计划策略，并将主要研究具有预定时间的姿势反馈，以实现本文中最终效力器的微观级跟踪准确性。但是，与对照相似，指数反馈相对于比例反馈，指数反馈会导致较大的初始关节角速度。首先，FFSR的基于姿势的运动学模型将从控制角度得出。然后，在预定的时间轨迹计划中应用了累积危险场（CDF）避免碰撞算法，以实现微观级别的避免碰撞 - 避免轨迹轨迹跟踪精度。最后，基于GA的优化算法用于优化预定义的时间参数，以获得机器人臂低关节角速度的运动轨迹。模拟结果验证了我们的猜想和结论。
With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast collision-avoidance trajectory planning strategy for a dual-arm free-floating space robot (FFSR) with predefined-time pose feedback will be mainly studied to achieve micron-level tracking accuracy of end-effector in this paper. However, similar to control, the exponential feedback results in larger initial joint angular velocity relative to proportional feedback. Firstly, a pose-error-based kinematic model of the FFSR will be derived from a control perspective. Then, a cumulative dangerous field (CDF) collision-avoidance algorithm is applied in predefined-time trajectory planning to achieve micron-level collision-avoidance trajectory tracking precision. In the end, a GA-based optimization algorithm is used to optimize the predefined-time parameter to obtain a motion trajectory of low joint angular velocity of robotic arms. The simulation results verify our conjecture and conclusion.
