On point-to-point motion planning for underactuated space manipulator systems
On point-to-point motion planning for underactuated space manipulator systems
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DOI：
10.1016/j.robot.2006.07.003
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发表时间：
2007-02
期刊：
影响因子：
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通讯作者：
Ioannis Tortopidis;E. Papadopoulos
中科院分区：
文献类型：
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作者：
Ioannis Tortopidis;E. Papadopoulos
在自由漂浮模式下，空间机械臂系统的执行机构处于关闭状态，并且由于角动量守恒而表现出非完整行为。该系统是欠驱动的，一个具有挑战性的问题是控制末端执行器的位置和基座的姿态，仅使用机械手执行器。本文提出了一种满足这一要求的路径规划方法。该方法使用高阶多项式作为余弦函数的参数，直接在联合空间中指定所需的路径。通过这种方法，极大地扩展了最终构型的可访问性，并通过优化技术确定了自由参数。结果发现，只要期望的结构变化在物理允许的极限之间，这种方法总是通向一条路径。物理限制，强加的系统的动态参数，进行了检查。由于机械手运动，基座旋转的下界和上界被估计并显示在实现部分。该方法避免了许多小周期运动的需要，并在规划方案中使用平滑函数，从而在有限和规定的时间内实现平滑的结构变化。
In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. Here a path planning methodology satisfying this requirement is developed. The method uses high order polynomials, as arguments in cosine functions, to specify the desired path directly in joint-space. In this way, the accessibility of final configurations is extended drastically, and the free parameters are determined by optimization techniques. It was found that this approach leads always to a path, provided that the desired change in configuration lies between physically permissible limits. Physical limitations, imposed by system’s dynamic parameters, are examined. Lower and upper bounds for base rotation, due to manipulator motions, are estimated and shown in the implementation section. The presented method avoids the need for many small cyclical motions, and uses smooth functions in the planning scheme, leading to smooth configuration changes in finite and prescribed time.