宇航学报

宇航学报 ›› 2016, Vol. 37 ›› Issue (3): 325-333.doi: 10.3873/j.issn.1000-1328.2016.03.011

• 制导、导航与控制 • 上一篇    下一篇

一种改进阻尼倒数的空间机器人避奇异算法

吴戈，张国良，羊帆，汤文俊，陈志侃   

  1. 火箭军工程大学三系，西安710025
  • 收稿日期:2015-05-06 修回日期:2015-08-16 出版日期:2016-03-15 发布日期:2016-03-25

A Singularity Avoidance Algorithm Based on Improved Damped Reciprocal  for Space Robot

WU Ge , ZHANG Guo liang, YANG Fan, TANG Wen jun, CHEN Zhi kan   

  1. Department Three, Rocket Force University of Engineering, Xi’an 710025, China
  • Received:2015-05-06 Revised:2015-08-16 Online:2016-03-15 Published:2016-03-25

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摘要：

针对自由漂浮空间机器人运动规划过程中存在的动力学奇异问题，提出一种动力学奇异转化加改进阻尼倒数的奇异回避算法。首先，通过运动学分解，间接求解机器人逆运动学方程，避免直接求解逆广义雅可比矩阵，以实现奇异参数的分离；然后，采用改进的高斯分布阻尼因子的阻尼倒数代替奇异参数的普通倒数，回避运动学奇异的影响。与现有阻尼倒数方法相比，提高了算法在奇异点附近的连续性，进一步减小了算法带来的跟踪误差。在PUMA类型空间机器人模型上进行仿真试验，校验算法的有效性。

关键词: 自由漂浮空间机器人, 运动规划, 奇异回避, 阻尼因子

Abstract:

Aiming at the dynamic singularity in the process of the motion planning of the free-floating space robot, a singularity avoidance algorithm named dynamics singularity transformation plus improved damped reciprocal is proposed in this paper. Firstly, the robot inverse kinematics equation is indirectly solved by using the kinematics decomposing to avoid solving inverse generalized Jacobian matrix directly, and to separate the singularity parameters. Then, the damped reciprocals with improved Gaussian distribution of damping factor are replaced for the common reciprocals of singularity parameters to avoid the singularities. Compared with traditional damped reciprocal method, the continuity of the algorithm in singular region is improved and the tracking error resulted from the damping factor is minimized. The simulation is tested for a PUMA type free-floating space robot model, and the results show the effectiveness of the proposed algorithm.

Key words: Free-floating space robot, Motion planning, Singularity avoidance, Damping factor

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