摘要
为了使单关节锁定空间机械臂继续执行负载任务,提出关节锁定空间机械臂负载操作能力评估方法及轨迹规划策略.首先,将动态负载能力分析方法与蒙特卡洛法相结合建立动态负载能力容错工作空间,该空间可以直观反映关节锁定空间机械臂负载操作能力及可达性;然后,栅格化该空间,并在代价函数中加入负载能力项以改进A*算法进行搜索轨迹;最后,通过仿真验证关节锁定空间机械臂负载能力评估及轨迹规划方法的正确性,所得轨迹平均带载能力比任务要求高42.5%.
To make space manipulators with locked joint be able to carry large load,a load carrying capacity evaluation method and a load carrying task trajectory planning strategy are proposed.First of all,the dynamic load carrying capacity analytical method and the Monte Carlo method are combined to establish the failure tolerance workspace with load carrying capacity,and it is further rasterizated into a series of cubes.Then the classic A*algorithm is improved to search the executable task trajectory;Finally,numerical simulation is carried out to clarify the effectiveness of the proposed method.The simulation results show that the failure tolerance workspace with load carrying capacity can illustrate the load carrying capacity and reachability of the space manipulator with the locked joint intuitively,and the average load carrying capacity of the obtained trajectory is 42.5%larger than the task requirement.
作者
贾庆轩
袁博楠
陈钢
符颖卓
JIA Qing-xuan;YUAN Bo-nan;CHEN Gang;FU Ying-zhuo(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)
出处
《控制与决策》
EI
CSCD
北大核心
2020年第1期243-249,共7页
Control and Decision
基金
国家自然科学基金项目(61403038,61573066,61327806).
作者简介
通讯作者:陈钢,E-mail:buptcg@163.com.
