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题名: High Order Curvature and Torsion Continuous Trajectory Planning Method for Space Flight Robot
作者: 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: 2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 60-63
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000380609600149
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17517
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Qi RL,Zhang W,Tian YZ,et al. High Order Curvature and Torsion Continuous Trajectory Planning Method for Space Flight Robot[C]. 见:2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC). Hangzhou, China. August 26-27, 2015.
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