TY - GEN
T1 - Optimization method for operation configuration of space manipulator for on-orbit assembly
AU - Li, Mengfei
AU - Liu, Yang
AU - Feng, Weichao
AU - Cao, Baoshi
AU - Xie, Zongwu
AU - Xie, Yuteng
AU - Li, Chongyang
AU - Guo, Chuangqiang
N1 - Publisher Copyright:
© 2024 Copyright held by the owner/author(s).
PY - 2024/11/18
Y1 - 2024/11/18
N2 - Aiming at the insertion requirements of large space structures during the on-orbit assembly process, a redundant manipulator operation configuration selection method using joint angle variation as a performance evaluation index is proposed, which achieves operation configuration optimization among multiple sets of inverse solutions. At the same time, the risk of collision during installation is reduced. Firstly, the joint angle parameterization method is used to solve all feasible solutions of the redundant manipulator. Then, trapezoidal velocity planning is employed to analyse the operation configuration after the end effector of the manipulator moves a certain distance in different directions of the coordinate system, and the joint weight coefficient is introduced to calculate the weighted value of the angle variation. Finally, select the operation configuration corresponding to the minimum weighted value as the initial configuration for the manipulator. The calculation results show that this method can select an effective solution that satisfies the posture constraints from multiple sets of inverse solutions, giving full play to the redundant characteristics of the SSRMS-type manipulator and ensuring the safety and reliability of the on-orbit assembly process.
AB - Aiming at the insertion requirements of large space structures during the on-orbit assembly process, a redundant manipulator operation configuration selection method using joint angle variation as a performance evaluation index is proposed, which achieves operation configuration optimization among multiple sets of inverse solutions. At the same time, the risk of collision during installation is reduced. Firstly, the joint angle parameterization method is used to solve all feasible solutions of the redundant manipulator. Then, trapezoidal velocity planning is employed to analyse the operation configuration after the end effector of the manipulator moves a certain distance in different directions of the coordinate system, and the joint weight coefficient is introduced to calculate the weighted value of the angle variation. Finally, select the operation configuration corresponding to the minimum weighted value as the initial configuration for the manipulator. The calculation results show that this method can select an effective solution that satisfies the posture constraints from multiple sets of inverse solutions, giving full play to the redundant characteristics of the SSRMS-type manipulator and ensuring the safety and reliability of the on-orbit assembly process.
KW - inverse kinematics
KW - joint angle variation
KW - joint weight factors
KW - on-orbit assembly
KW - operation configuration
KW - position-level
KW - space manipulator
KW - velocity-level
UR - https://www.scopus.com/pages/publications/85212848323
U2 - 10.1145/3687488.3687491
DO - 10.1145/3687488.3687491
M3 - 会议稿件
AN - SCOPUS:85212848323
T3 - ACM International Conference Proceeding Series
SP - 14
EP - 20
BT - Proceedings of 2024 4th International Conference on Control and Intelligent Robotics, ICCIR 2024
PB - Association for Computing Machinery
T2 - 4th International Conference on Control and Intelligent Robotics, ICCIR 2024
Y2 - 21 June 2024 through 23 June 2024
ER -