宇航学报

宇航学报 ›› 2017, Vol. 38 ›› Issue (7): 678-685.doi: 10.3873/j.issn.1000-1328.2017.07.002

• 飞行器设计与力学 • 上一篇    下一篇

空间机械臂捕获失稳目标的动态轨迹规划方法

王兴龙，周志成，曲广吉   

  1. 中国空间技术研究院通信卫星事业部，北京 100094
  • 收稿日期:2016-11-16 修回日期:2017-05-04 出版日期:2017-07-15 发布日期:2017-07-25
  • 基金资助:

    国家自然科学基金(11272334)

Dynamic Trajectory Planning Method of Space Manipulator for Capturing a Tumbling Target

WANG Xing long, ZHOU Zhi cheng, QU Guang ji   

  1. Institute of Telecommunication Satellite, China Academy of Space Technology, Beijing 100094, China
  • Received:2016-11-16 Revised:2017-05-04 Online:2017-07-15 Published:2017-07-25

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摘要：

针对航天器在轨服务体系技术的发展需求，提出一种空间机械臂捕获失稳目标的动态轨迹规划方法。在系统设定和工程模化的基础上，首先推导了空间机械臂捕获目标的动力学模型和速度增益矩阵；然后重点研究了速度增益矩阵的动态调整方法，并以此为基础设计了空间机械臂捕获失稳目标的动态轨迹规划方法；最后通过工程算例在MATLAB和ADAMS联合仿真平台上验证了该方法的有效性。仿真结果表明，该方法既能有效减少捕获时间，又能防止过大的起始和残余速度，同时还能回避雅克比矩阵奇异问题，可以满足机械臂末端对失稳目标相对位姿同步跟踪的捕获任务要求，具有工程实用性。

关键词: 空间机械臂, 目标捕获, 速度增益, 轨迹规划

Abstract:

In order to meet the development requirement of spacecraft on-orbit service system technology, a dynamic trajectory planning method of a space manipulator for capturing a tumbling target is proposed in this paper. Firstly, on the basis of the system assumptions, the dynamics model and the velocity gain matrix of the space manipulator for capturing a target are derived. Then, the dynamic regulation method of the velocity gain matrix is presented. Furthermore, the dynamic trajectory planning method of the space manipulator is developed in detail. Finally, the effectiveness of the method is verified by a numerical simulation performed with MATLAB and ADAMS. The results illustrate that the proposed method can not only reduce the capturing time but also prevent the excessive starting and residual velocities, as well as avoiding the singularity of the Jacobian matrix. The method is practical in engineering for a space manipulator to capture a tumbling target.

Key words: Space manipulator, Target capturing, Velocity gain, Trajectory planning

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