Optimal Coordinated Planning Strategy for Space Robots Grasping Targets
文献类型：会议论文
| 作者 | Liu, Jindong; Liu JG(刘金国) ; Zhang X(张鑫)
|
| 出版日期 | 2017 |
| 会议名称 | 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) |
| 会议日期 | November 19-21, 2017 |
| 会议地点 | Ningbo, China |
| 关键词 | space robots coordinated planning strategy berth position Modified Generalized Jacobian Matrix Particle Swarm Optimization |
| 页码 | 288-293 |
| 通讯作者 | Zhang X(张鑫) |
| 中文摘要 | The task of capturing a space target using a space robot carrying robotic manipulators can be divided into two phases: controlling the robot to reach a desired berth position near the floating target, and manipulating the manipulator to grasp the target. Most of the existing planning strategies only focus on a point-to-point trajectory planning of the manipulator to ensure the end-effector to reach adesired pose, while the berth position is usually set manually. In this paper, we propose an optimal coordinated planning strategy for space robots to grasp targets. Both the manipulator’s joint trajectories and the robot’s berth position are considered to autonomously accomplish the coordinated planning of the end-effector and the robot base. From the perspective of the task-space constraints, the manipulator is first planned to satisfy the attitude constraints of the end-effector and base, and then the berth position is planned to meet the end-effector’s position. A Modified Generalized Jacobian Matrix (MGJM) is proposed to describe the velocity mapping from the joint space to the attitude of the end effector and the base. Based on the MGJM and Particle Swarm Optimization [18] (PSO), the whole planning task is turned to optimize the joint trajectories and the berth position. Simulated experiments have verified that the proposed planning strategy can successfully automate the two phases of a space robot to grasp target in the space. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2326-8239 |
| ISBN号 | 978-1-5386-3135-5 |
| WOS记录号 | WOS:000425928100051 |
| 源URL | [http://ir.sia.cn/handle/173321/21316]  |
| 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.The Hamlyn Centre, Imperial College London, London, UK 3.University of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Liu, Jindong,Liu JG,Zhang X. Optimal Coordinated Planning Strategy for Space Robots Grasping Targets[C]. 见:2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM). Ningbo, China. November 19-21, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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