Abstract:

Aiming at the problem of velocity mutation caused by joint failure, one method to suppress velocity mutation based on degradation Jacobian matrix is proposed. The universal kinematic model of the space robot arm is established by using screw theory, and then the compensation term is deduced by the reconstruction of the mathematical model and the adjustment of the operation parameters to realize the smoothing properties in model reconstruction and on-line adjustment. In this paper the simulationincluding three cases such as normal case, failure case and mutation suppression after failure is presented. The simulation results illustrate the validity of the proposed method. It’s very important for the success of the task and lowering failure influence to research velocity mutation suppression method.

Key words: Space manipulator, Screw theory, Joint failure, Mutation suppression