Hybrid rigid-continuum dual-arm space robots: Modeling, coupling analysis, and coordinated motion planning
Hybrid rigid-continuum dual-arm space robots: Modeling, coupling analysis, and coordinated motion planning
复制标题
混合刚性连续体双臂空间机器人：建模、耦合分析和协调运动规划
DOI：
10.1016/j.ast.2021.106861
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发表时间：
2021-06-15
影响因子：
5.6
通讯作者：
Ding, Ning
中科院分区：
文献类型：
--
作者：
Ouyang, Xiangkai;Meng, Deshan;Ding, Ning
混合刚性 - 连续体空间机器人“刚柔并济”，因而对环境和任务有更强的适应性。然而，与传统的离散多关节空间机器人相比，这种多类型机械臂共存的系统具有更复杂的系统模型。不同类型机械臂之间的协同规划具有挑战性。本文提出了一种新型的混合刚性 - 连续体双臂空间机器人（HRCDASR），它由一个刚性机械臂和一个连续体机械臂组成。首先，我们利用定义建立连续体机械臂的动量方程。在此基础上，首次推导出自由漂浮模式下HRCDASR的广义雅可比矩阵（GJM）。此外，深入研究了不同类型机械臂之间的耦合关系。还讨论了不同种类机械臂对基座运动的影响规律。根据动态耦合特性，提出了一种基于任务优先级的HRCDASR协同规划方法，以在目标捕获过程中最小化系统的干扰影响。最后，详细分析了HRCDASR的耦合因素，并进行了对比运动规划仿真，以验证所提出的HRCDASR规划方法。（C）2021爱思唯尔马松公司。版权所有。
Hybrid Rigid-Continuum Space Robots are "couple strength and gentleness" and therefore more adaptable to the environment and mission. However, compared to traditional discrete multi-jointed space robots, this multi-type manipulator coexistence system has a more complex system model. The coordination planning between different types of manipulators is challenging. This paper presents a novel Hybrid Rigid-Continuum Dual-Arm Space Robot (HRCDASR) that consists of a rigid manipulator and a continuum manipulator. First, we use the definition to establish momentum equations of the continuum manipulator. On this basis, a generalized Jacobi matrix (GJM) of HRCDASR in the free-floating mode is developed for the first time. Furthermore, the coupling between different types of manipulators is studied in depth. The influence laws of different kinds of manipulators on the motion of the base are also discussed. According to the dynamic coupling feature, a coordinated planning method for HRCDASR based on task priority is proposed to minimize the interfering effects of the system during target capturing. Finally, the coupling factors of HRCDASR are analyzed in detail, and the comparison motion planning simulations are performed to validate the proposed HRCDASR planning method. (C) 2021 Elsevier Masson SAS. All rights reserved.