空間機械手的跟蹤捕捉操作

1、畢業(yè)設計外文資料翻譯畢業(yè)設計外文資料翻譯題目空間機械手的跟蹤捕捉操作學院機械工程學院專業(yè)機械工程及自動化班級機自0917班學生廉開發(fā)學號20090421170指導教師指導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