空間機械手的跟蹤捕捉操作

1、畢業(yè)設(shè)計外文資料翻譯畢業(yè)設(shè)計外文資料翻譯題目空間機械手的跟蹤捕捉操作學(xué)院機械工程學(xué)院專業(yè)機械工程及自動化班級機自0917班學(xué)生廉開發(fā)學(xué)號20090421170指導(dǎo)教師指導(dǎo)教師蘇東寧二〇一三年四月一日supptinthefuture.Howeverthefirststepofthecaptureishowtotrackapproachthetargetsatellite.StephenJacobsenetal[JacobsenS.etal

2、.(2002)]presentedtoplanasafekinematicstrajectyffreeflyingrobotsapproachinganuncontrolledspinningsatellitetheyaddresshowtoletthespacerobotapproachtothewkspaceofroboticmanipulatinwhichthemanipulatcanoperatecapturetheUSS.Th

3、erefethispaperassumesthatthetargetsatelliteisinthewkspaceofspacemanipulat.itisdesirabletocontriveanewtrackingapproachtrajectyfspacemanipulattocapturethetargetsatellite.Sofartherearemanystudiesontrajectyplanningofspacerob

4、ot.S.DubowskyKazuyaYoshidaK.HashizumKyoshidKHashizume(2001)]utilizedtheETSVIIasYangshengXu[OmP.AgrawalYangshengXu(1994)]introducedaglobaloptimumpathplanningfredundantspacemanipulat.AllexamplesmentionedinteracHoweveronlyf

5、ewresearcherswkontrackingtrajectyplanningofspacemanipulatfcapturingthuncontrolledsatelliteinfact.Hiroyukietal[HiroyukiNagamatusetal.(1996)]presentedacapturestrategyfretrievalofatumblingsatellitebyaspaceroboticmanipulat.Z

6、henghuaLuoYoshiyukisakawa[ZhenghuaLuoYoshiyukiSakawa(1990)]discussedthecontrollawofcapturingatumblingobjectbyaspacemanipulat.Therefehowoplanfeasibletrackingtrajectybecomesatbasedonspacebaseisdifferentwithterrestrialmanip

7、ulatintrajectyplanningcontrol.HenceitisnecessarytoplanthetrackingtrajectyofspacemanipulatfapturingUSSfromtheengineeringpointofview.Thispaperaimstoaddressaninnovativetrackingrajectyplanningmethodofspacerobotmanipulatcaptu

8、ringtheUSSaccding.Thispaperisganizedasfollows.Thesectiontwodescribesthemainproblemassumptionthesectionthreesimplyreviewsthekinematicsdynamicsquationofspacemanipulat.ThenweaddressthemotionestimationofUSSinsectionfour.Thes

9、ectionfiveaddressesourtrajectyplanningmethod.Insectionsixthecomputersimulationstudyresultareshowed.Thesectionsevensummarizesthewholepapereducestheconclusion.2.ProblemFmulation2.1.DeionofProblemOnbitcapturingUSShasnotsucc

10、essfulexamplessofarasatypicalexampleofonbitoperation.Heretheauthsmainlyassumeacaptureoperationindertodescribetheproblem.Fig.1showsaschematicillustrationofatrackingoperationinwhichaspacemanipulatistrackingapproachingtowar

11、dsthetargetsatellite.Thisoperationcanalmostbeensolvedfterrestrialroboticmanipulat.HoweverinspaceenvironmentitisverydifficultproblemfroboticmanipulattocapturUSSbecauseofthedynamicscoupledynamicsingularitieswhichresultinth

12、ebigerrofdesiredtrajectyrealtrajectythiserrpossiblycausesthecatastrophicaffairdemolishthespacerobotsystemcompletely.OntheotherhitisveryimptantproblemtoplanatrajectyfspacemanipulattotrackapproachtheUSS.Thispaperwillfocuso

13、nthisproblem.Thekeypointoftrajectyplanningofrobotistosolveinversekinematicsofspacemanipulat.ThedrawbackinkinematicsproblemsoffreeflyingspacemanipulatisthatasLongmanetal[R.W.LongmanR.E.LindBergM.F.Zedd(1987)]Vafaetal[Z.Va

14、faS.Dubowsky(1987)]haveaddressedthemintheirpapersthefwardkinematicshasnotabledifficultyi.e.thepositionientationofthemanipulatendeffectdonothaveaclosedfmsolutionsincetheydependontheinertiapropertythatchangesaccdingtotheco

15、nfigurationofspacemanipulat.Therefethehistyoftheposturalchangemustbeconsideredindertoderivethesolutionalltheseproblemsmaketheinversekinematicsmedifficult.Indertocopewithtrackingtrajectyplanningproblemthepresentpaperdescr

16、ibesatrackingtrajectyaccdingtothefeaturesoftheUSSthespacemanipulat.Asdiscussedindetailinsectionfive.2.2.AssumptionInthispapertheauthsassumeamodelofspacerobotsystemwhichiscomposedofaspacebasearoboticmanipulatarmmountedont

17、hespacebase.Fig.2showsasimplemodelofspacerobotsystemwithasinglemanipulatarm.Indertoclarifythepointatissuetheypresentthefollowingassumption.a)Thespacerobotsystemconsistsofn1linksconnectedwithnactivejointseachjointhasonero

18、tationaldegreeoffreedom(DOF)iscontrolled.Theattitudepositionofthespacebasecanbecontrollednotbecontrolledrespectively.b)Nomechanicalrestrictionexternalfcetquetothespacemanipulatsystemi.e.thegravityisignedsothatthetotalmom