一种基座姿态可控空间机器人的通用避奇异算法

Translated title of the contribution: A general singularity avoidance algorithm for pedestal-controllable space manipulator

Longze Zhao, Haoping She*, Liangwei Huang, Longfei Huang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

A general singularity avoidance algorithm is proposed to solve the kinematic singularity problem of pedestal-controllable space manipulator in Cartesian path planning. First, we establish Jacobian matrix of the space manipulator by the method of virtual mechanical arm, and determine singular area by judging the relationship between the determinant of Jacobian matrix and angular velocity in real time. Then, Newton-Raphson iterative method is used to solve inverse kinematics of manipulator. Finally, we design a segmental path planning algorithm of "differential term extraction + refitting" for singularity avoidance, until the joint angle breaks away from the singular area. Simulation results show that the proposed algorithm can accomplish the singular avoidance task effectively. The proposed algorithm can be adapted to various degrees of freedom and configurations of mechanical arm. Moreover, it is convenient for users to adjust the relationship between calculation time and tracking accuracy, and has good universality.

Translated title of the contributionA general singularity avoidance algorithm for pedestal-controllable space manipulator
Original languageChinese (Traditional)
Pages (from-to)495-503
Number of pages9
JournalBeijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
Volume48
Issue number3
DOIs
Publication statusPublished - Mar 2022

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