月面人机协同作业机械臂安全轨迹规划

Aiming at the future human-robot field cooperative operation task for the future manned lunar exploration missions, the safe trajectory planning of robot arm operation process under man-machine integration is studied, and a path planning method based on the dynamic adjustment mechanism of robotic arm and convex optimization theory is proposed. In this method, multiple constraints such as angular velocity, angular acceleration and torque are fully considered, and the path planning problem is characterized as an optimization problem with constraints by taking time and energy consumption as comprehensive index functions. In order to reduce the computational complexity of programming problems, the multidimensional dynamic constraints are simplified into scalar parameters based constraints by using parameterization method. A safety evaluation mechanism based on relative kinematic parameters of astronaut and robot is established. The safety of astronaut is integrated into the planning problem, and the safety path of manipulator is constructed by direct collocation method and quadratic cone optimization method. Simulation results show that the proposed safe path planning can realize efficient and safe robot sampling under astronaut intervention.