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Practical approaches to handle the singularities of a wrist-partitioned space manipulator

机译：处理手腕分区空间操纵器奇点的实用方法

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摘要

Space robotic systems are expected to play an increasingly important role in the future. However, the control methods based on the inverse kinematics are affected by singularities. In this paper, practical approaches are proposed to solve the problems of a wrist-partitioned space manipulator. For spacecraft-referenced end-point motion control, we presented the singularity separation plus damped reciprocal (SSPDR) method, which separates the singularity parameters from the inverse of the Jacobian, and replaces their reciprocals using the damped reciprocals. For another control strategy, i.e. menially referenced end-point motion control, including spacecraft attitude-controlled mode and free-floating mode, the linear momentum equation is used to eliminate three independent variables. With modifying some expressions, the SSPDR method is utilized to solve the singularities of spacecraft attitude-controlled space robot. When the space robot is free-floating, the singularities, i.e. the so-called dynamic singularities, cannot be predicted according to its kinematic structure. Combining with the measured angular velocity of the base, the dynamic singularity handling problem is transformed into realtime kinematic singularity avoiding problem, which can be solved by the SSPDR method. Since the SVD decomposition, the estimation of the minimum singularity value, and the calculation of the generalized facobian matrix are not required, the algorithm has lower computation load. Another advantage is that, only the accuracy of part velocity components is reduced by adding the damped coefficients. Simulation results verify the proposed approaches.
机译：太空机器人系统有望在未来发挥越来越重要的作用。但是，基于逆运动学的控制方法会受到奇异性的影响。在本文中，提出了解决手腕分区空间操纵器问题的实用方法。对于航天器参考的端点运动控制，我们提出了奇异分离加阻尼倒数（SSPDR）方法，该方法将奇异参数与雅可比矩阵的倒数分开，并使用阻尼倒数替换了它们的倒数。对于另一种控制策略，即专门参考的端点运动控制（包括航天器姿态控制模式和自由浮动模式），线性动量方程用于消除三个独立变量。通过修改一些表达式，SSPDR方法被用来解决航天器姿态控制空间机器人的奇异性。当空间机器人自由浮动时，奇异点，即所谓的动态奇异点，不能根据其运动学结构来预测。结合测得的基角速度，将动态奇点处理问题转化为实时运动奇点回避问题，可以通过SSPDR方法解决。由于不需要SVD分解，最小奇异值的估计以及广义facobian矩阵的计算，因此该算法的计算量较小。另一个优点是，通过增加阻尼系数，仅降低了部分速度分量的精度。仿真结果验证了所提出的方法。

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  • 来源
    《Acta astronautica》 |2011年第2期|p.269-300|共32页
  • 作者

    Wenfu Xu; Bin Liang; Yangsheng Xu;

  • 作者单位

    Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, PR China;

    rnShenzhen Graduate School, Harbin Institute of Technology, Shenzhen, PR China;

    rnDepartment of Automation and Computer-Aided Engineering, The Chinese University of Hong Kong, Hong Kong, PR China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    space robot; dynamic singularities; singularity avoiding; path planning; on-orbital service;

    机译：太空机器人;动态奇点;避免奇点;路径规划;在轨服务;

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