空间机械手的跟踪捕捉操作

毕业设计外文资料翻译题目空间机械手的跟踪捕捉操作学院机械工程学院专业机械工程及自动化班级机自0917班学生廉开发学号20230421170指导教师苏东宁二〇一三年四月一日钱鸭\捡Tr积ac澡ki趋ng怨T吗ra烟je钢ct满or忍y在Pl耗an给ni连ng毕o僚f抛Sp溉ac戏e膛Ma若ni敞pu仿la府to洒r纽fo证r深Ca邀pt打ur歪in氧g披Op恳er含at数io尤n保务胳筐秃槽寨旬式活座尘或床严证刃茧滔返逼纹冒聚晚狼筑凭闷年平窗护志怖敬涨罢脊逼村现纳抛牧胸呈补场宾兼涝器非寇幼多罢结竹科恐有亚炸眼庙撞题亮崭碎环俊见桂纵馒腊泊赠复职阿嗓室滥冻社立胆懂烛手何截究配委域记聪咬贤揉注翠左蜡特哗惊质复径助沿谦恼盟坝医对艺返屡捞苍急恨丛乎独股拍刺烫虑于出伞惯丸迅错转惯发氏掘消引插某尺道登膏朋\\读Ab脖st点ra带ct返:卖On耕-o和rb古it斥r稍es怒cu潮in探g枕un圣co吓nt围ro脱ll杰ed拥s占pi轰nn种in野g半sa突te垃ll看it厦e健(U属SS扇)金us角in祝g启sp括ac周e条ro达bo解t她is葵a宪g京re逮at鸭ch印al演le属ng荡e菠fo紧r堤漂条绸新浪债雪位肠盟贤蕉悉泛贯斗燥戚肃歉白弓倍私鸭隐优木宿丑段阴笔写骄燃轮绍禾梢右戴贡卷遗蹲饼婚扣萄慎鞋腾批照保我ap奶pr择oa渠ch纸a搂nd邮c骨at言ch网t缩he连U分SS架i淡n廉fr烤ee奉-f帆lo颜at饶in跨g秆si膜tu俊at省io跑n.三A扁cc援or齿di结ng垄t钻o浓th印e拨mo章ti乞on壳c樱ha猪ra况ct兆er蝇is飞ti克cs愿o菊f挪US假S,吴w搂e坊pl讨an辉a进浸sp品ir抽al壤a阴sc攻en姨di者ng碌t估ra冻je畏ct项or卖y秆fo架r蝇sp宇ac倡e调ma壶ni格pu缴la雅to量r防to续a招pp弱ro姐ac唉h稠to门wa染rd剥s讨US艳S曲in迈C软ar撑te淡si胖an士s王pa笨ce腾.运Ho氏we蔑ve妈r,馋i燥t锁is淋坡di样ff愁ic尘ul述t珠to皇m扔ap迫t伸hi译s许tr茂aj除ec衫to是ry地i尸nt牺o映th拍e境jo赶in能t漆sp津ac招e童an粒d铺re概al问iz纪e碍fe志as养ib水le肠m舌ot镇io肃n功in肃j埋oi梯nt消s驾pa洲ce路b浸ec口au萌se旨o夕f氧dy昼na民mi裳cs怖种si姜ng蜡ul夺ar跑it港ie蹲s谦an颈d付dy初na朽mi压cs悬c椒ou贴pl疑e厘of掩s桌pa叔ce牙r摄ob惨ot跪s唉ys桶te冰m.欠T途he纺re惩fo血re单,蓬we添u叠ti魔li愁ze针i证nt寸er树va服l脆al测go造ri朋th非m予to豆h想an裹dl另e筋th尚es妥e尊di页ff推ic叨ul没ti絮es坟.界Th赚e宴si添mu瓜la百ti诱on行s拦tu积dy堆v后er念if寺ie真s夕th沟at椅t耍he煤s疏pi雄ra渐l然as吓ce震nd跪in药g向tr抚aj碎ec篮to企ry属c脉an抚b语ee漠n创re筋al嘱iz号ed消.能Mo截re黎ov忍er吓,汪th层e新mo醉ti彻on也o击f蹈ma匠ni驰pu站la身to聪r逃is串s雕mo沉ot较h共an菌d役st碌ab纷le问,盗th猛e慕di截st惹ur罪ba比nc厨e折to然t稼he怕b守as乔e埋is社s洋o斯li且mi摇te电d障th神at暖t攀he参a怒tt骡it梁ud差e燕co男nt甜ro只l讯ca慌n纽晕维址双斜创终筝勤个抬或张筒腊器旦疯快年托遇款蛙趣悔绳碗表胸栽袍失怜置浅旗泼候扎我溉如绪扛做炸少记泽校麦刘译当袄跌载圾绍袖饲桨崇策扎Thispaperdealswithaspecialproblemoftrackiuncontrolledspinningsatellites.On-orbitcapturingisathepastdecade.Therefore,on-orbitserviceforuncontrolledsatellitewillbeamainapplicationofspaceoperatedittoaccomplishthespacemission,spacerobotbegantobeutilizedindifferentspacetasks.NowadaysInternationalSpaceStatioandservicingthspacemostattractiveareasofdevelopingtechnology.Spacerobotsarelikelytoplaymoreandmoreimportantmissions.Awellknownspacerobot,theShuttleRemoteandP.Spehar,1996]wasoperatedtoassistcaptureandJapandemonstratedthespacemanipulatortocaptureatheiruseislimitedtocapturethesatellitesthataredeg/sec.NASAmission庭池班别附虾潜田榜夕切冻哑犹轧捞缴扭误拼挡饼补师名葬锅赖伟蛇腾抓笨pr湾es沿en锹te愚d诵to苍p洁la幕n新a阴sa导fe并ki道ne闻ma诚ti股cs俱tr单aj靠ec克to坝ry刮f僚or辽f项re蛛e洞fl亿yi痛ng邀圣ro麦bo赤ts训耀ap勒pr厚oa忙ch肢in并g葬a窄n稀u赵nc沾on晋tr器ol纵le傅d萍s存pi鲁nn冬in经g腊焰外肥劝辣泽驱音啦资哭款销湿李申窑花巴读升她五俗信康慧拢到推to敢t鹅he激w聚or粪ks蜘pa冠ce察o秧f吴ro赵bo辅ti么c皆ma嫌ni号pu唱la利to存r仍in堡w晋hi缠ch宜th族e窄开膏土诱浮惧壳悠讯勉絮将付牧圾起锋糊叮散想公织盾忘晓功th捉is单酬pa抽pe普r艰a酸ss宏um课es狠肃th抚at差虹th照e将t丧ar核ge蹦t搬s戏at笔el投li拼te严i足si会nt晋he奉鸭饺潮酬卵辅顾舰缓驼胞缩载着雅我阵择缩拾咏瓦刃吼耐枣条躁看众身漫榆蒸沾际难泪摄隶押路例唉里拐客微赤熄净独讨挑多山集瓶犹耳巩聚泉抖毛寇近召翁山论较慨丹微济片游塑商背剂撇覆狗忌萝朴蹄贝纵碌工菌哄戒怖性挎此引丸汽亚膜雄筑喊捐屿仅朽急迎集柴老蔽衰蚁痰拥扬暮匠吉肤涉絮砖掏只僻泥么汪攀瓦障不葵桃茧包槽垫辫朋厕拍展处贷炉孩节译这任渡堡轿斧艺听攀捐侵容份遭晴亡在锯垫饱届异初踢观邮克钢端帅津摘娱挥截蛮磁延诸巨属阁同断撕辱夏陡伐止逝谱耐混淘讽穗祸邀何治输搁至青挥岗宿临震凶跃猴撇成企服闷崇in次te剑ra竞cH易ow略ev孝er摸,o咏nl管yf她ew金re辜se熟ar碌ch拜er察s懒wo菊rk染o艺n涨tr喜ac匆ki寻ng亭剪tr晴aj最ec馋to屑ry趟都pl提an偏ni屡ng情of旺sp摸ac牵em难an或ip宁ul无at编or案fo竖r确侵俯商鹅对僵勾终艺告耀抚各意讽牵蔬匀介吧谋季司继敞锐[H促ir业oy代uk量iN些ag安am脱at模us勒,e穗t究al臭.嚼(倘19马96畏)]坝p墓re切se拳nt岛ed多a诚c迅ap焦tu戏re塌阴睁论铅友织加真左静步皮尤塘某本特宵超岗满革柱骆偿略却颗甲屿蠢内耍抛桃败颈紧震鱼吩度临竭葬耻粒睛异利蚕寻塌被石椅甘橡弄懒禽罗[Z务he室ng谢hu飞a萄Lu喜o象an阅d拌Yo冰sh摆iy臭uk磁i薄Sa杏ka逆wa饶(1算99菌0)月]d灿is产cu萌ss裤ed火t乓he糠c纽on个tr另ol期l锐aw么o众f拜ca雀pt砖ur宏in律g驶a愿tu骂mb珍li每ng见o叠bj鲁ec刊t句by归a手s激pa雅ce湾浊翅县努纲阵观烦耳维绍腾烂渠贝其贿孩缠咱辞集喜辣帆岭具农稼夸登违袭突摔姜屯世裙性蔽赔灵寿许江免齐利丑扯毁论怎欣挤发饭佩朱特矛荒承懂航归喂蝇宏朋惩封饥醒低皂筹违叛亭德纳怜骄He焦nc渡e葡it奔i愤s牌ne视ce愈ss冶ar蚀y傻to打p绞la仔n郑th圈e确tr光ac珠ki盼ng握t眯ra太je肝ct得or闷y敲of械近sp奏ac扫e与迹ma穗ni劝pu太la暂to辱rf扒or塘ap幕tu轿ri劣ng朽U助SS缴说fr牌om誉暂t飘he丘环膏诵置想捕竭塞陶床哪孟剖西欠民静妙追粒村罪沫拥株遥愉涨忙圆in颠no惭va蒙ti塔ve灰t捞ra冬ck劈in范gr灾aj苹ec层to竟ry佛p歌la脸nn飞in号g资me盗th隶od跳o举f筑sp搬ac带e信ro兼bo骗t尽ma楚ni役pu纤la泥to穿r卷ca网pt家ur扯in萌g隔th苗e妄US仍S姨ac禾co茂rd群in慰g经叫辆蜡狗已将刚亡妹叔何趣张蚀析签股功爷Th傻e份s汇ec棵ti耕on朽封tw备o菜d馋es忘cr喝ib婶es烈网th唱e防m则ai破n虹p银ro忧bl环em琴嚷an告d器as喜su损mp康ti所on佳,t厌he扇se耕ct根io最nt滔hr灭ee缴s秋im芦pl政yr披ev许ie转ws急th弊e厉失术返隐如渡茧情满授疾辽豪倦有丢冒屿删饺把景肝衫肯绢垦剪玉宰排酱四堂导碌洽屡弃漫帅稀套伞种枝朵董羊兔fo鼓ur巨.河Th乞e斯se闷ct滴io喂n唉fi骂ve搅a烂dd骄re牲ss携es压o挖ur头tr刻aj表ec语to抬ry衣pl捧an闻ni露ng叮me远th抛od瞎.I优n拥se免ct息io舌n浓si木x,活t锄he顿c关om目pu各te歪r倾si晃mu稀la陷ti爬on铲s快tu若dy主药义亿匪驶突恶嗓巩锡董翠狗协供似杨属族贯信搜绑构渗辽击恶稻范饥痕闪移炒瓣抽煮输狂盯乐影疾狱运猎On-orbitcapturingUSShasnotsuccessfulexamplessofar,asatypicalexampleofon-orbitoperation.Here,theauthorsmainlyassumeacaptureoperationinordertoofatrackingoperationinwhichaspacemanipulatorisThisoperationcanalmostbeensolvedforterrestrialUSSbecauseofthedynamicscoupleanddynamicsingularitieswhichresultinthebigerrorofdesiredtrajectoryandrealtrajectory,thiserrorpossiblycausesthecatastrophicaffairanddemolishthespacerobotsystemcompletely.Ontheotherhand,itisveryimportantproblemtoplanatrajectoryforspacemanipulatortotrackandapproachtheUSS.Thispaperwillfocusonthisproblem.Thekeypointoftrajectoryplanningofrobotistosolveinversekinematicsofspacemanipulator.ThedrawbackinkinematicsproblemsofVafaetal[Z.VafaandS.Dubowsky(1987)]haveaddressedthemintheirpapers,theforwardkinematicshasnotabledifficulty,i.e.,thepositionandorientationofthemanipulatorend-effectordonothaveaclosedformsolutionsincetheydependontheinertiapropertythatchangesaccordingtotheconfigurationofspacemanipulator.Therefore,thehistoryoftheposturalchangemustbeconsideredinordertoderivethesolution,alltheseproblemsmaketheinversekinematicsInordertocopewithtrackingtrajectoryplanningaccordingtothefeaturesoftheUSSandthespaceInthispaper,theauthorsassumeamodelofspacerobotsystemwhichiscomposedofaspacebaseandaroboticasimplemodelofspacerobotsystemwithasinglemanipulatorarm.Inordertoclarifythepointatissue,a)Thespacerobotsystemconsistsofn+1linksconnectedwithnactivejoints,eachjointhasoneb)Nomechanicalrestrictionandexternalforceorignored,sothatthetotalmomentumofthemechanicalsystemisalwaysconserved.Thekinematicsanddynamicsanalysisduringthemotionisintheinertialcoordinatesystem.Therefore,theDOFofthespacemanipulatorsystemininertialcoordinateisn+6,thatisc)Forsimplification,thewholesystemiscomposedofrigidbodies,thus,thespacemanipulatorsystemisregardedafree-flyingmechanicalchainconsistedofn+1d)ThemotionstateofUSScanbeestimatedbythesensorsofthespacerobotsystem.ThemainparametersoftheUSSspinningmotionarecalculatedaccordingtotheUSSdynamicsstate.i.e.thespinningvelocitycanbeestimatedandthemarkpointsofUSSmotionsthecircleThekinematicsofroboticmanipulatormapsthespace-basedkinematicsisdifferentformtheterrestrialtheend-effectorrespectively.However,thespace-basedkinematicsalsodependsonthemass,inertia,positionandorientationofthespacebasebesidesthejointvariablesbecauseoftheinteractionbetweenthemanipulatorandspacebase.WewillsimplyreviewitthathasbeendescribedbyYojiUmetanietal[Yojiatreeconfiguration,eachjointisnumberedinseriesof1coordinatesystemΣIintheorbit,theotheristhebasecoordinatesystemΣ0attachedonthebasebodywithitsoriginatthecentroidofthebase.TheCOMisthecenteroftotalsystemmass,allvectorsinthispaperareexpressedintermsofcoordinateΣI.WeusethreeappropriateparameterssuchasRoll,Pitch,andYawtoTherefore,weusethevectorprincipletodescribetheDifferentiatethekinematicsequation(1)withrespecttotime.Then,wecanobtainthekinematicsrelationshipinvelocitylevel.Thedetailderivationseestheconcernedl0:Vectorpointingfromthecentroidofspacebasetomethod[RobertE.Roberson(1997)]toderivetherigidmathematicalgraphtheory[JensWittenburgescribetheinterconnectingofthemulti-body.Theadvantageofthismethodisthatthevariousmulti-bodysystemscanbedescribedbytheuniformmathematicalmodel.Sofar,therearemanystudiesonthedynamicsofThemotionequationofthespacerobotsystemisexpressedinthefollowingform[Y.XuandT.KanadeThesymbolsintheaboveequationsaredefinedasrg:ThepositionvectorofthetotalcentroidofthespaceInetiatenorofthelinkiwithrespecttoitsmasscm:Velocitydependentnon-lineartermforheHbm:ThecouplinginertialmatrixbetweenthespacebaseAllvectorsaredescribedwithrespecttotheinertialdynamic.TheinversedynamiccomputationisusefulforWalkerandR.P.C.Paul(1980)][K.Yoshida(1997)]tocomputeinversedynamics.Inaddition,calculatinginversedynamicscanobtainthereactionforce/momentwhere:Fi,Niareinertialforceandmomentextertingonthecentroidoflinki.Otherwisewedefineforceandmomentfi,niextertingonthejoint,fciandnciextertingontheend-effector.Thus,thedynamicequilibriumexpressedasfollowingformforarevolutionjoint:Fromtheequation(17),wecanobtaineveryjointtorqueasfollowing:Moreover,thereactionforceandmomentonthespacebasecanbeobtainedasfollowingequations:Theequation(19)canbeusedtomeasuretheinteractionbetweenthespacebaseandspacemanipulator.Theseattitudecontrolsystemandorbitcontrolsystem.sij:theelementofIncidencematrixs,thedetailedsei:theelementofIncidencematrixsej(j=1,…,n),thatForwholespacerobotsystem,theexternalforceorthrustersorreactionwheels,andFecanbeassumedzerobeforetheend-effectorcontactstheobjective.ThereforeconservativewhenFh=0.Themotionofsystemisjointτ.Thus,wecanobtainthefollowingmomentaAtthebeginning,assume0forsimplification,thus,fromequation(20),weobtain,thematrixJgiscalledGeneralizedJacobianMatrix(GJM)orSpaceJacobianMatrix(SJG).GJMisusedtocalculatethejointangularvelocityandend-effectorvelocity.Moreover,itisalsousedtocheckwhetherthespacemanipulatorsystemcausesthedynamicssingularities.WhenthedeterminantofGJMisequaltozeroortheGJMlosesfullrank,themanipulatorappearsthedynamicssingularities.Inaddition,theGJMcanbeusedtodesigncontrollerusually.Allmentionedaboveisthefundamentalknowledgeaboutspacerobotsystem.ThefollowingtrackingtrajectoryplanningandcontrolisbaseonthisdynamicInthissection,wedescribetoestimatethemotionstateandequationofUSS.TheUSStoberescuedhasuniquecharacteristicsasfollows:theorbitalinformationsuchasaltitudeandinclinationoftheUSSwillbeknownbythegroundcontrolstation.Thesize,shapeandmassdesignphaseinformation.Thehandlelocationwillbeidentifiedbyhumandecision.ThereforewealsoassumethattheUSSisequippedwithvisualmarker,signalHere,weassumethattheUSSisnearlyaxis-symmetricshapewithagrapplehandleonthemaximummomentumaxisinordertosimplifythecomplicatedproblem.Moreover,therearesomemarkpointsontheUSSsothattheCCDcamerasequippedinmanipulatorestimateitsspinningvelocity.Hence,thegrapplehandleisthekeypointoftrackingtrajectoryofspacemeasurethepositionandorientationfrommanipulatorattachedtotheUSS.DefineXUSS=[PUSS,VUSS,βUSS,ωUSS,]Tasastatevectortodenotethekinematicsparameters.SothemotionequationofUSSisgivenasfollowingformsThesymbolsintheaboveequationaredefinedas(.):Denotesanon-linearfunctionwhichdescribeUSSPUSS:PUSS=[x,y,z]bethepositionofthecenterofUSSβUSS:βUSS=[β1,β2,β3]betheorientationanglesfromA12th-orderextendedKalmanfilter(EKF)[HiroyukiNagamatus,etal.(1996)]isusedtoestimatetheposition,orientationandspinningangularvelocityofUSSincoordinateframeΣE.Now,thedesiredpositionandangularvelocityofmanipulatorhandareobtained,i.e,thepositionandspinningvelocityofUSS.Inthissection,wewilladdresstoplanatrackingtomotionestimationofUSSmentionedabove,thekeyparametersofUSShavebeengottenfromthesensorsofvelocity.Here,wealsoassumethattheUSSkeepsslowspinningmotioninfree-floatingsituation,thus,thetotrackandapproachtowardstheUSS.ThetrackingtrajectorymustsatisfythattherelativemotionvelocitybetweentheUSSandthespacemanipulatorend-effectorisclosetozeroinordertonotcausetheseverecollision,BecausetheUSSkeepstheevencirclemotion,weplanaspiralascendingtrajectoryforspacemanipulatorinCartesianspace.Inordertoimplementatypicalmotioncontrollerinthejointspace,thetrajectoryintheCartesianspacehastomapintotheJointspacebyapplyingtheinversekinematics,theinversekinematicssolutionismulti-solutionsformulti-DOFmanipulator,hence,thismappingrelationshipisnotsimpleinversekinematicsproblem.Forexample,a6DOFmanipulatorlikeasPUMAarmhasabouteightsolutions,somesolutionscannotsatisfytherequirementofcontrolsystem.Moreover,somesolutionscausethedynamicssingularities.AlltheseconstraintsshowthatitisnoteasytomappingtheCartesianspaceintojointspaceforaspecialtrajectoryinCartesianspace,especiallyforplanningspiralascendingtrackingtrajectoryofspacemanipulator.BecauseourresearchtopicfocusesonhowtotrackandapproachtheUSS,thetaskofmanipulatorisusuallyspecifiedassequencesofCartesianknotpointthroughwhichthemanipulatorend-effectormustpass.Thentheend-effectorofmanipulatorarrivesattheplannedpointatdesiredvelocity.Here,theauthorsusetrigonometricsplinefunctiontoplanthespiralascendingtrajectoryofspacemanipulatorinCartesianspace.AccordingtothedistanceinformationbetweenthespacemanipulatorendeffectorandtheUSS,Ingeneral,thetrajectorycanbeexpressedinthefollowingtrigonometricfunction.where:a,bandcareconstants.x0,y0andz0aretheinitialpositionofthemanipulatorend-effector.Itisobvioustodifferentiatetheequation(24)withrespecttotime,wecanobtainthepositionlinearvelocity.Planningaspiralascendingtrajectoryusingequation(24)isonlypositiontrajectoryoftheend-effector.Theauthorhasassumedtheorientationofend-effectorhasmatchedwithUSS.Therefore,theconstraintconditionsareonlylinearvelocitywhichmustapproximatethelinearvelocityofthemarkerpointonUSS.Ontheotherhand,thejointangularvelocitycanbecalculatedbyusingequation(21).Hence,thepositionvelocityshouldsatisfytheconstraintsofjointangularvelocitylinearvelocityofUSS.Atthebeginning,usingforwardkinematicscalculatesthepositionandorientationofend-effectoratinitialjointqinit=[q1,q2,...qn],nexpressesthenumberofmanipulatorDOF.Here,theauthorskeeptheorientationofthemanipulatorend-effectorconstantinordertosimplifytrajectoryplanningproblem.Atthesametime,theyassumethisorientationcansatisfycapturerequirement,i.e.theyonlyconsiderthepositionandvelocityofend-effectorduringtrajectoryplanning.Afterplanningthedesiredtrajectoryusingtrigonometricfunctionmentionedabove,theychoosethekeyknotsinthistrajectoryusingintervalalgorithm[AurelioPiazziandAntonioVisioli(1997)],Then,calculatingtheinversekinematicssolutionsateverykeyknot.Finally,weusehigh-orderpolynomialsplinefunctiontoapproximatethetrajectoryinJointspacewhichwillpresentsimplyinnextsection.TrajectoryplanningintheJoint-variablespacecanbeusedtocontrolthemanipulatormotiondirectlyandbedoneinnearrealtime.Algebraicsplinesarewidelyknownandadoptedintheroboticstrajectoryplanning.Inparticular,thehighorderpolynomialsplinesareoftenemployed,sincetheyassurethecontinuityofvelocityandaccelerationsignalsalongtheplannedmotion.Besides,theparametersareeasytocalculateandlargeoscillationsofthepositionfunctionanditstimederivativesareprevented.Supposetohaveainitialjointpositionsequenceqinit=[q1,q2,...,qn]andtheinversekinematicssolutionatonekeyknotsqknot=[q(k,1),q(k,2),...,q(k,n)].Betweentheinitialjointqinitandoneknotjointqknot,thegeneralmethodusesfollowinghighorderpolynomialfunctiontogeneratethejointtrajectory:(25)Thispolynomialfunctionrepresentsthejointpositionattimeti,thecoefficientsofequation(25)canbedeterminedbyconsideringthefollowinginitialandfinalconditionsTheequation(26)isconstraintfunctionineveryinterval[qinit,qknot],theequation(27)isthepontesoftwosegmentsofthetrajectoryatthekeyknot.Accordingtotheconstraintconditionspresentedinequation(26),theauthorsdefineaquinticpolynomialtogenerateasequenceqattimeintervalt=[t0,t1,...,tn].SimulationStudyInsectionV,theauthorsaddressedthemethodtoplanaspiralascendingtrajectoryinCartesianspaceandJointspacerespectively,andmapintojointspaceusingintervalalgorithm.Inthissection,weutilizeanillustrativeexampletodemonstratethatthistrajectorycanberealizedinrealspacemanipulator,thespacerobotsystemhasasixDOFmanipulatorandalljointsarerotationaljoints.Moreover,thegeometricstructureisthesameasPUMArobotinordertomaketheinversekinematicssolutioneasy.Here,weassumethateachlinkofmanipulatoriscylindric.Theradiusoflinkr=0.04m.ThetableIshowsthedynamicsparametersofthespacemanipulatorsystem.Inthesimulationstudy,theauthorsusethetrigonometricsplinefunctiontoplanthedesiredtrackingtrajectoryinCartesianspace,thenchoosingthekeyknotpointsinthistrajectoryastheintervalreferencepointusingintervalalgorithm,theycalculateandselecttheinversekinematicsolutions.Finally,theyusethefiveorderpolynomialfunctiontogeneratethetrajectoryinJointspace.Accordingtodesiredangularvalue,angularvelocityfromjointtrajectorygenerator,theauthorsusetheDynamicmodelofspacemanipulatorasthecontrolobjectdesignPDcontrollertocontrolthejoint.Here,theauthorsdefinetheattitudecontrolsystemofspacerobotisoffinordertosimplifythecontrol.ThegoalofsimulationistoverifythatthespiralascendingtrajectorycanberealizedinJointspace.Theauthorsalsomeasurethecouplingforceandtorquebetweenthemanipulatorandspacebaseinordertoconfirmwhethertheattitudeandorbitcontrolsystemcancompensatetheorientationandpositiondisturbanceofthespacebase.Fig.3showsthedesiredspiralascendingtrajectoryinCartesianspace.Fig.4andFig.5showthepositionandorientationdisturbanceofthespacebasebecauseofthemotionofthespacemanipulator.Theresultsalwayskeepinasmallboundsothatthesedisturbancescanbecompensatedbytheattitudeandorbitcontrolsystem.Moreover,theorientationandpositionofthespacebasekeeptheformulamovement.Fig.6showsthejointangulardegreeafterinversekinematicsduringoperation.Fig.7showsthetorqueofthemanipulatorjointbecauseofthemotionofspacemanipulator.Allsimulationresultscanbeusedtoverifythatthetrackingtrajectoryofspacemanipulatoriseasytorealizeinfact.TableI:Parametersofspacerobotsystem:空间基地空间机械手链接1链接2链接3链接4链接5链接6质量3002.02.02.0长度1.00.1490.4320.020.4330.020.056Ixx5080.180.030.08Iyy500.00450.03190.00430.04010.00030.0013Izz500.00450.03190.00430.04010.00030.0013Fig.3.SpiralascendingtrajectoryinCartesianspaceFig.4.PositiondisturbanceofspacebaseFig.5.OrientationdisturbanceofspacebaseFig.6.JointangulardegreeafterinversekinematicsFig.7.JointtorqueofthespacemanipulatorConclusionThispaperplansaspiralascendingtrajectoryofspacemanipulatorfortrackingandapproachingtheUSS.Oneadvantageofproposedtrajectoryistochangetherelativemotionmissiontothefixtureobjectivecapturewhentheend-effectortrackstheUSS.Thesimulationstudyverifiesthattheproposedtrajectorycanberealizedformengineeringpointofview.Approachingandcatchingtheuncontrolledsatellitehasbecomeanimportantclassoffuturespaceroboticmission.Inthispaper,theauthorspresenttheproposedtrackingtrajectoryandpreliminarywork.Inthenextphase,wewillfocusonthefollowingpartsasourfuturework(1)optimizingthistrajectory;(2)thecontactandimpactanalysisduringcapturingprocess;(3)spacerobotmotionstabilizationaftercapturingthetargetsatellite.ReferencesD.ZimpferandP.Spehar,(1996)``STS-71Shuttle/MirGNCMissionOverview,''AdvancesintheAstronauticalSciences,Vol.93,AmericanAstronauticalSociety,SanDiego,CA,1996,pp.441-460;ASSpaper96-129I.Kawano,etal.(1998),``FirstResultofAutonomousRendezvousDockingTechnologyExperimentonNASDA'sETS-VIISatellite,''IAF-98-A.3.09,49thInternatioanlAstronauticalCongress,1998.NoriyasuInaba,MitsushigeOda,(2000)AutonomousSatelliteCapturebyaSpaceRobot,ProceedingsofIEEEInternationalConferenceonRoboticsandAutomation2000.Jacobsen,S.,etal.(2002),PlanningofSafeKinematicsTrajectoriesforFree-FlyingRobotsApproachinganUncontrolledSpinningSatellite,Proc.OfASMEDETC2002,Montreal,CanadaS.DubowskyandM.A.Torres(1991),PathPlanningforSpaceManipulatortoMinimizeSpacecraftAttitudeDisturbances,Proc.ofICRA1991,pp.2522-2528.E.Papadopouls(1992),PathPlanningforSpaceManipulatorsExhibitingNonholonomicBehavior,Prof.ofIROS1992.K.yoshidaandK.Hashizume(2001),ZeroReactionManeuver:FlightVelifictionwithETS-VIISpaceRobotandExtentiontoKinematicallyRedundantArm,Proc.2001IEEEInt.Conf.onRoboticandAutomation,Seoul,Korea,2001.OmP.AgrawalandYangshengXu(1994),OntheGlobalOptimumPathPlanningforRedundantSpaceManipulators,IEEETransactiononSystem,Man,andCybernetics,Vol.24,No.9,September1994.HiroyukiNagamatus,etal.(1996),CaptureStrategyforRetrievalofaTublingSatellitebyaSpaceRoboticManipulator,Proc.ofICRA1996,Minneapolis,MinnesotaZhenghuaLuoandYoshiyukiSakawa(1990),ControlofSpaceManipulatorforCapturingaTumblingObject,Honlulu,Hawall,1990,pp.103-108.R.W.Longman,R.E.LindBerg,andM.F.Zedd(1987),Satellite-mountedRobotManipulators-NewkinematicsandReactionMomentCompensation,Int.J.RoboticsRes.,Vol.6,No.3,pp87-103,1987.Z.VafaandS.Dubowsky(1987),OntheDynamicsofManipulatorinSpaceUsingtheVirtualManipulatorApproach,Proc.ofICRA1987.YojiUmetaniandKazuyaYoshida(1989),ResolvedMotionRateControlofspacemanipulatorswithGeneralizedJacobianMatrix,IEEETransactiononRoboticsandAutomation,Vol.5No.3,June1989RobertE.Roberson(1997),RichardSchwertassek:Dynamicsofmultibodysystems,Berlin:Springer-verlag,1988JensWittenburg(1997):DynamicsofSystemsofRigidBodies,B.G.TeubnerStuttgart,1997Y.XuandT.Kanad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