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| 科研成果 |
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| 论文题目： |
Autonomous trajectory planner for space telerobots capturing space debris under the teleprogramming framework |
| 第一作者： |
Zhang X(张鑫);Liu JG(刘金国) |
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| 发表刊物： |
ADVANCES IN MECHANICAL ENGINEERING |
| 发表年度： |
2017 |
| 卷,期,页： |
9,9,1-13 |
| 论文出处： |
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| 论文摘要： |
Due to the special characteristics of the space telerobot system (the dynamic coupling and the dynamic singularities), it is difficult for ground operators to directly operate or plan the orbital telerobot to accomplish the capture task. This article proposes an autonomous trajectory planner under the teleprogramming framework for space telerobots to capture space debris, where the direct optimization method is adopted to obtain smooth and singularity-avoiding joint trajectories. First, the motion planning problem is formulated as a constrained optimization problem, where the precise capture is set as the optimization objective and the base disturbance and the physical limitations (joint position, velocity, and acceleration) are set as constraints. Then, the parameterization and normalization treatments and the penalty function method are adopted to handle constraints and determine the feasible region of the undetermined parameters. Furthermore, an autonomous trajectory planner based on the forward differential kinematics and the differential evolution algorithm is developed to plan the feasible joint trajectories. Finally, the simulation of a space telerobot equipped with a 7-degree-of-freedom manipulator capturing floating debris is conducted to verify the effectiveness of the proposed planner. |
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