TY - JOUR
T1 - 一种基座姿态可控空间机器人的通用避奇异算法
AU - Zhao, Longze
AU - She, Haoping
AU - Huang, Liangwei
AU - Huang, Longfei
N1 - Publisher Copyright:
© 2022, Editorial Board of JBUAA. All right reserved.
PY - 2022/3
Y1 - 2022/3
N2 - 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.
AB - 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.
KW - Newton-Raphson iterative method
KW - Segmental path planning
KW - Singular region determination
KW - Singularity avoidance
KW - Space manipulator
UR - http://www.scopus.com/inward/record.url?scp=85127205225&partnerID=8YFLogxK
U2 - 10.13700/j.bh.1001-5965.2020.0603
DO - 10.13700/j.bh.1001-5965.2020.0603
M3 - 文章
AN - SCOPUS:85127205225
SN - 1001-5965
VL - 48
SP - 495
EP - 503
JO - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
JF - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
IS - 3
ER -