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基于双FMT*算法的空间去翻滚机器人手臂展开路径规划

Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm.

作者信息

Chen Ning, Zhang Yasheng, Cheng Wenhua

机构信息

Department of Graduate Management, Space Engineering University, Beijing 101416, China.

Department of Space Command, Space Engineering University, Beijing 101416, China.

出版信息

Micromachines (Basel). 2021 Oct 10;12(10):1231. doi: 10.3390/mi12101231.

DOI:10.3390/mi12101231
PMID:34683282
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8539719/
Abstract

In order to avoid damage to service satellites and targets during space missions and improve safety and reliability, it is necessary to study how to eliminate or reduce the rotation of targets. This paper focused on a space detumbling robot and studied the space detumbling robot dynamics and robot arm deployment path planning. Firstly, a certain space detumbling robot with a 'platform + manipulator + end effector' configuration is proposed. By considering the end effector as a translational joint, the entire space detumbling robot is equivalent to a link system containing six rotating joints and three translational joints, and the detailed derivation process of the kinematic and dynamic model is presented. Then, ADAMS and MATLAB were used to simulate the model, and the MATLAB results were compared with the ADAMS results to verify the correctness of the model. After that, the robot arm deployment problem was analyzed in detail from the aspects of problem description, constraint analysis and algorithm implementation. An algorithm of robot arm deployment path planning based on the Bi-FMT* algorithm is proposed, and the effectiveness of the algorithm is verified by simulation.

摘要

为避免在太空任务期间对服务卫星和目标造成损害并提高安全性和可靠性，有必要研究如何消除或减少目标的旋转。本文聚焦于一种太空消旋机器人，研究了太空消旋机器人动力学及机器人手臂展开路径规划。首先，提出了一种具有“平台+机械手+末端执行器”构型的特定太空消旋机器人。通过将末端执行器视为平移关节，整个太空消旋机器人等效于一个包含六个旋转关节和三个平移关节的连杆系统，并给出了运动学和动力学模型的详细推导过程。然后，利用ADAMS和MATLAB对模型进行仿真，并将MATLAB结果与ADAMS结果进行比较以验证模型的正确性。之后，从问题描述、约束分析和算法实现等方面对机器人手臂展开问题进行了详细分析。提出了一种基于双向快速行进树*算法的机器人手臂展开路径规划算法，并通过仿真验证了该算法的有效性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/a9b331aa7bb7/micromachines-12-01231-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/61b734a56dc2/micromachines-12-01231-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/f0efcfbe0ebb/micromachines-12-01231-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/ac3c65ecae31/micromachines-12-01231-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/9e63d462f06b/micromachines-12-01231-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/cba511a9d807/micromachines-12-01231-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/b75be8146086/micromachines-12-01231-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/885081b7c644/micromachines-12-01231-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/feb44b692e99/micromachines-12-01231-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/25f080ce3d3e/micromachines-12-01231-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/5b058b287a95/micromachines-12-01231-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/5c835d479d9a/micromachines-12-01231-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/a9b331aa7bb7/micromachines-12-01231-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/61b734a56dc2/micromachines-12-01231-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/f0efcfbe0ebb/micromachines-12-01231-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/ac3c65ecae31/micromachines-12-01231-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/9e63d462f06b/micromachines-12-01231-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/cba511a9d807/micromachines-12-01231-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/b75be8146086/micromachines-12-01231-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/885081b7c644/micromachines-12-01231-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/feb44b692e99/micromachines-12-01231-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/25f080ce3d3e/micromachines-12-01231-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/5b058b287a95/micromachines-12-01231-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/5c835d479d9a/micromachines-12-01231-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/41f5/8539719/a9b331aa7bb7/micromachines-12-01231-g012.jpg

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Improved Distorted Configuration Space Path Planning and its Application to Robot Manipulators.
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Sensors (Basel). 2020 Oct 24;20(21):6060. doi: 10.3390/s20216060.
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