Autonomous trajectory planner for space telerobots capturing space debris under the teleprogramming framework
文献类型：期刊论文
| 作者 | Zhang X(张鑫) ; Liu JG(刘金国)
|
| 刊名 | ADVANCES IN MECHANICAL ENGINEERING
 |
| 出版日期 | 2017 |
| 卷号 | 9期号:9页码:1-13 |
| 关键词 | Autonomous trajectory planner teleprogramming framework space telerobot constrained optimization problem differential evolution |
| ISSN号 | 1687-8140 |
| 产权排序 | 1 |
| 通讯作者 | Liu JG(刘金国) |
| 中文摘要 | Due to the special characteristics of the space telerobot system (the dynamic coupling and the dynamic singularities), it is difficult for ground operators to directly operate or plan the orbital telerobot to accomplish the capture task. This article proposes an autonomous trajectory planner under the teleprogramming framework for space telerobots to capture space debris, where the direct optimization method is adopted to obtain smooth and singularity-avoiding joint trajectories. First, the motion planning problem is formulated as a constrained optimization problem, where the precise capture is set as the optimization objective and the base disturbance and the physical limitations (joint position, velocity, and acceleration) are set as constraints. Then, the parameterization and normalization treatments and the penalty function method are adopted to handle constraints and determine the feasible region of the undetermined parameters. Furthermore, an autonomous trajectory planner based on the forward differential kinematics and the differential evolution algorithm is developed to plan the feasible joint trajectories. Finally, the simulation of a space telerobot equipped with a 7-degree-of-freedom manipulator capturing floating debris is conducted to verify the effectiveness of the proposed planner. |
| WOS标题词 | Science & Technology ; Physical Sciences ; Technology |
| 类目[WOS] | Thermodynamics ; Engineering, Mechanical |
| 研究领域[WOS] | Thermodynamics ; Engineering |
| 关键词[WOS] | DIFFERENTIAL EVOLUTION ; MANIPULATORS ; ROBOTICS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000414608700001 |
| 源URL | [http://ir.sia.cn/handle/173321/21233]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Zhang X,Liu JG. Autonomous trajectory planner for space telerobots capturing space debris under the teleprogramming framework[J]. ADVANCES IN MECHANICAL ENGINEERING,2017,9(9):1-13. |
| APA | Zhang X,&Liu JG.(2017).Autonomous trajectory planner for space telerobots capturing space debris under the teleprogramming framework.ADVANCES IN MECHANICAL ENGINEERING,9(9),1-13. |
| MLA | Zhang X,et al."Autonomous trajectory planner for space telerobots capturing space debris under the teleprogramming framework".ADVANCES IN MECHANICAL ENGINEERING 9.9(2017):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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