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Effective motion planning strategy for space robot capturing targets under consideration of the berth position
Zhang X(张鑫)1,2; Liu JG(刘金国)1
作者部门空间自动化技术研究室
关键词Motion Planning Strategy Space Robots Berth Position Parameter Optimization Problem Grasping Area
发表期刊Acta Astronautica
ISSN0094-5765
2018
卷号148页码:403-416
收录类别SCI ; EI
EI收录号20182105236211
WOS记录号WOS:000442315000041
产权排序1
资助机构Chinese Academy of Sciences ; National Natural Science Foundation of China
摘要

Although many motion planning strategies for missions involving space robots capturing floating targets can be found in the literature, relatively little has discussed how to select the berth position where the spacecraft base hovers. In fact, the berth position is a flexible and controllable factor, and selecting a suitable berth position has a great impact on improving the efficiency of motion planning in the capture mission. Therefore, to make full use of the manoeuvrability of the space robot, this paper proposes a new viewpoint that utilizes the base berth position as an optimizable parameter to formulate a more comprehensive and effective motion planning strategy. Considering the dynamic coupling, the dynamic singularities, and the physical limitations of space robots, a unified motion planning framework based on the forward kinematics and parameter optimization technique is developed to convert the planning problem into the parameter optimization problem. For getting rid of the strict grasping position constraints in the capture mission, a new conception of grasping area is proposed to greatly simplify the difficulty of the motion planning. Furthermore, by utilizing the penalty function method, a new concise objective function is constructed. Here, the intelligent algorithm, Particle Swarm Optimization (PSO), is worked as solver to determine the free parameters. Two capturing cases, i.e., capturing a two-dimensional (2D) planar target and capturing a three-dimensional (3D) spatial target, are studied under this framework. The corresponding simulation results demonstrate that the proposed method is more efficient and effective for planning the capture missions.

语种英语
WOS类目Engineering, Aerospace
关键词[WOS]MANIPULATORS ; DYNAMICS ; SYSTEMS ; KINEMATICS ; ORBIT
WOS研究方向Engineering
资助项目Chinese Academy of Sciences[Y4A3210301] ; National Natural Science Foundation of China[51175494] ; National Natural Science Foundation of China[51505470] ; National Natural Science Foundation of China[51775541]
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21867
专题空间自动化技术研究室
通讯作者Liu JG(刘金国)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Zhang X,Liu JG. Effective motion planning strategy for space robot capturing targets under consideration of the berth position[J]. Acta Astronautica,2018,148:403-416.
APA Zhang X,&Liu JG.(2018).Effective motion planning strategy for space robot capturing targets under consideration of the berth position.Acta Astronautica,148,403-416.
MLA Zhang X,et al."Effective motion planning strategy for space robot capturing targets under consideration of the berth position".Acta Astronautica 148(2018):403-416.
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