School of Astronautics, Harbin Institute of Technology, Harbin 150001, China.
Aerospace System Engineering Shanghai, Shanghai 200000, China.
Sensors (Basel). 2023 Mar 22;23(6):3334. doi: 10.3390/s23063334.
Complex space missions require more space robotic extravehicular operations required to crawl on spacecraft surfaces with discontinuous features at the graspable point, greatly increasing the difficulty of space robot motion manipulation. Therefore, this paper proposes an autonomous planning method for space dobby robots based on dynamic potential fields. This method can realize the autonomous crawling of space dobby robots in discontinuous environments while considering the task objectives and the self-collision problem of robotic arms when crawling. In this method, a hybrid event-time trigger with event triggering as the main trigger is proposed by combining the working characteristics of space dobby robots and improving the gait timing trigger; the dynamic potential field function is designed to adjust the space robot robotic arm grasping point adaptively according to the space robot state. Simulation results verify the effectiveness of the proposed autonomous planning method.
复杂的航天任务需要更多的空间机器人舱外作业，以便在具有可抓取点的不连续特征的航天器表面上爬行，这极大地增加了空间机器人运动操作的难度。因此，本文提出了一种基于动态势场的空间织机机器人自主规划方法。该方法可以在考虑任务目标和机器人手臂在爬行时的自碰撞问题的同时，实现空间织机机器人在不连续环境中的自主爬行。在该方法中，通过结合空间织机机器人的工作特点和改进步态定时触发，提出了一种具有事件触发为主触发的混合事件-时间触发；设计了动态势场函数，根据空间机器人的状态自适应调整空间机器人机械臂的抓取点。仿真结果验证了所提出的自主规划方法的有效性。
