Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing 100124, China.
Beijing Key Laboratory of Long-Life Technology of Precise Rotation and Transmission Mechanisms, Beijing Institute of Control Engineering, Beijing 100094, China.
Sensors (Basel). 2023 May 24;23(11):5025. doi: 10.3390/s23115025.
The burgeoning complexity of space missions has amplified the research focus on robots that are capable of assisting astronauts in accomplishing tasks within space stations. Nevertheless, these robots grapple with substantial mobility challenges in a weightless environment. This study proposed an omnidirectional continuous movement method for a dual-arm robot, inspired by the movement patterns of astronauts within space stations. On the basis of determining the configuration of the dual-arm robot, the kinematics and dynamics model of the robot during contact and flight phases were established. Thereafter, several constraints are determined, including obstacle constraints, prohibited contact area constraints, and performance constraints. An optimization algorithm based on the artificial bee colony algorithm was proposed to optimize the trunk motion law, contact point positions between the manipulators and the inner wall, as well as the driving torques. Through the real-time control of the two manipulators, the robot is capable of achieving omnidirectional continuous movement across various inner walls with complex structures while maintaining optimal comprehensive performance. Simulation results demonstrate the correctness of this method. The method proposed in this paper provides a theoretical basis for the application of mobile robots within space stations.
随着太空任务的日益复杂，研究重点已经转向能够在空间站协助宇航员完成任务的机器人。然而，这些机器人在失重环境中面临着巨大的移动性挑战。本研究提出了一种基于空间站内宇航员运动模式的双臂机器人全方位连续运动方法。在确定双臂机器人的配置之后，建立了机器人在接触和飞行阶段的运动学和动力学模型。随后，确定了几个约束条件，包括障碍物约束、禁止接触区域约束和性能约束。提出了一种基于人工蜂群算法的优化算法，用于优化躯干运动规律、机械手与内壁之间的接触点位置以及驱动力矩。通过对两个机械手的实时控制，机器人能够在保持最佳综合性能的同时，实现对具有复杂结构的各种内壁的全方位连续运动。仿真结果验证了该方法的正确性。本文提出的方法为移动机器人在空间站中的应用提供了理论基础。
