Dissertation > Excellent graduate degree dissertation topics show

Research on Trajectory Planning and Impact Modeling of Space Robots for Capturing Moving Targets

Author: YangZhi
Tutor: LiuHong
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Space Robot Free-floating Trajectory planning Moving target capture Kalman filter Collision modeling
CLC: TP242.2
Type: Master's thesis
Year: 2011
Downloads: 121
Quote: 0
Read: Download Dissertation

Abstract

Free-floating space robots more and more attention by researchers due to its low energy consumption. Target acquisition as a basic operation content, because of its wide range of applications in the field of space robot research is particularly important. Capture the current study focused on a fixed target, the actual target to be captured usually is not static. This paper focuses on the free-floating space robot quickly and efficiently capture the movement of the target operating trajectory planning method, and the collision between the end of the space robot and the target in the capture process, by optimization of the manipulator arm, and the collision continue planning when selecting collision the entire capture process. Firstly, the establishment of a mathematical model of the kinematics and dynamics of free-floating space robot free-floating space robot forward kinematics equations are derived briefly introduced in this article, based on the generalized Jacobian matrix speed class of inverse kinematics and kinetic equations study and analyze the characteristics of its geometric modeling for virtual simulation model. The kinematic model created by, respectively, in the joint space and Cartesian space planning, complete point-to-point tracking and straight path tracking, verification to establish the correctness of the model, and provide a basis for this study. Secondly, the paper focuses on the methods of free-floating space robot trajectory planning independent tracking of moving targets. Require fast tracking of moving targets, stability, trajectory planning fewer, and can take into account other indicators tracking process. In this paper, the direct targeting method, continuous path planning tracking the law, and subparagraph standard path method, and analysis of their advantages and disadvantages and application. Method for the calculation of a small amount of planning, tracking accuracy predicted by Kalman filter-based target motion parameters, making the space robot moving target tracking accuracy is improved. And experimental platform using the experimental validation of the analysis results. The articles final analysis space robot end of the operation on the target of the capture process and analyze the impact of the collision in the capture process using kinetic equation derived collision dynamics model, the collision impulse, with the space platform and the target in a collision at the point The relative relationship between the speed and the manipulator arm type. In practice due to collision impulse is not easily measured, and combined with the kinematic model derived change the amount of space robot base and the manipulator speed collision course. Finally, through the analysis of the of track capture moving target in the manipulator each possible capture position, the different type of manipulator arm and the robot arm end with the target relative velocity error on the system caused by the relationship between the collision impulse, and accordingly select the best capture location and collision continue to capture planning.

Related Dissertations

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
© 2012 www.DissertationTopic.Net Mobile