宇航学报

宇航学报 ›› 2015, Vol. 36 ›› Issue (4): 390-396.doi: 10.3873/j.issn.1000-1328.2015.04.004

• 飞行器设计与力学 • 上一篇    下一篇

空间机器人抓捕目标星碰撞前构型优化

郭闻昊，王天舒   

  1. 清华大学航天航空学院，北京100084
  • 收稿日期:2014-03-04 修回日期:2014-05-16 出版日期:2015-04-15 发布日期:2015-04-25

Pre Impact Configuration Optimization for a Space Robot Capturing Target Satellite

GUO Wen hao, WANG Tian shu   

  1. School of Aerospace, Tsinghua University, Beijing 100084, China
  • Received:2014-03-04 Revised:2014-05-16 Online:2015-04-15 Published:2015-04-25

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摘要：

空间双臂机器人抓捕目标星会导致碰撞，针对碰撞引起机器人系统基座姿态变化的问题，提出一种基于粒子群算法的碰撞前构型优化方法。该方法首先给出了碰撞前和碰撞后的动力学模型，然后根据冲量—动量方程推导出碰撞阶段动力学方程，最后提出基于粒子群算法的最优碰撞前构型规划数值方法，使碰撞对机器人系统角动量的影响尽量小。通过计算校验了该方法的有效性，找到了用于空间机器人抓捕目标星的较理想的碰撞前构型。

关键词: 空间机器人, 构型优化, 粒子群算法, 碰撞/接触

Abstract:

A method based on particle swarm optimizer is presented for the optimization the pre-impact configuration of a dual-arm space robot to minimize the changes of robot’s attitude. The dynamic equations of pre- and post-impact phases are firstly given, then the impact dynamic model is derived based on impulse-momentum equation, the objective function is the change of robot’s angular momentum caused by impacts. By use of the particle swarm optimizer, the pre-impact configure is calculated to minimize the effects of impacts on the robot’s angular momentum. An ideal pre-impact configuration is found. Numerical results show that the proposed method is useful and effective.

Key words: Space robot, Configuration optimization, Particle swarm optimistic algorithm, Impact/contact

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