| 引用本文: | 张青斌,唐乾刚,孙世贤.飘浮式空间机器人路径规划的全局最优解析解.[J].国防科技大学学报,1999,21(3):25-28.[点击复制] |
| Zhang Qingbin,Tang Qiangang,Sun Shixian.Analytic Solution of Global Path Planning for Space Free-flying Robotics[J].Journal of National University of Defense Technology,1999,21(3):25-28[点击复制] |
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| 飘浮式空间机器人路径规划的全局最优解析解 |
| 张青斌, 唐乾刚, 孙世贤 |
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(国防科技大学 航天技术系 湖南 长沙 410073)
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| 摘要: |
| 本文根据刚体螺旋运动的特点, 利用旋转矩阵构造出评价载体姿态变化的目标函数; 采用Vafa等人的“虚机械臂”模型简化计算; 利用动量矩守恒的假设条件及完成抓取固定目标时的几何位形关系, 得到微分约束和边界约束。提出机械臂“周期运动”寻优法, 从而得到全局优化的近似解析解。 |
| 关键词: 空间机器人, 路径规划, 全局优化 |
| DOI： |
| 投稿日期：1998-05-21 |
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| Analytic Solution of Global Path Planning for Space Free-flying Robotics |
| Zhang Qingbin, Tang Qiangang, Sun Shixian |
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(Department of Aerospace Technology, NUDT, Changsha, 410073)
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| Abstract: |
| One of the most important problems in space based robotics is the disturbance to the satellite attitude caused by satellite mounted manipulators operation. In this paper the dynamic equations and conservation of angular momentum of a space manipulator system which are considered subject conditions are developed by using the“Virtual Manipulator Mode”;According to skew Matrix about skew motion of rigid body, we put out with a function to comment on the attitude change of rigid body; the we present a technique called“periods motion“to find an globally optimal path planning in form of analytic function solution. |
| Keywords: space robotics, path planning, global optimization |
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