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High Order Curvature and Torsion Continuous Trajectory Planning Method for Space Flight Robot
Qi RL(祁若龙); Zhang W(张伟); Tian YZ(田远征); Xiao L(肖磊)
作者部门空间自动化技术研究室
会议名称2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC)
会议日期August 26-27, 2015
会议地点Hangzhou, China
会议录名称2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码60-63
收录类别EI ; CPCI(ISTP)
EI收录号20160401834911
WOS记录号WOS:000380609600149
产权排序1
ISSN号2157-8982
ISBN号978-1-4799-8645-3
关键词Curvature Continuity Torsion Continuity Space Robot Trajectory Planning
摘要Aiming at the propulsion disturbance problem brought by the discontinuity of the rotation angular acceleration in the freedom flight course of space robot at microgravity condition, a flight trajectory which conforms to cubic curvature polynomials and cubic torsion polynomials in carrier coordinate of robot in 3D space in the trajectory planning stage. The robot's rotation angular velocity, angular acceleration and angular jerk can be continuous if the robot flies along the robot trajectory. According to the kinematics transform between the carrier coordinate system and the global coordinate system, the flight trajectory in the global coordinate system is a nonlinear transcendental equation set with quadratic integral. Separate polynomial parameters and other parameters separately, using partial differential Jacobi matrix to express the local linear relationship of the gradients of polynomial parameters and the gradients of other parameters, and Newton-Rap son iterative is used to draw near the real solution. At last, all approximate values are got. Thus it is concluded that the functions of the curvature polynomial, the torsion polynomial and the expression of trajectory in the global coordinate. The simulation experiment shows that the trajectory planning method can ensure that the angular velocity of robot is high order continuous at the same time, and effectively avoiding the control disturbance and burden of control system caused by the mutations of command speed, acceleration and jerk.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17517
专题空间自动化技术研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences Beijing, China
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GB/T 7714
Qi RL,Zhang W,Tian YZ,et al. High Order Curvature and Torsion Continuous Trajectory Planning Method for Space Flight Robot[C]. Piscataway, NJ, USA:IEEE,2015:60-63.
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