文章基本信息

标题：Acceleration-level trajectory planning for a dual-arm space robot
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作者：Kedi Xie ; Weiyao Lan
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：24
页码：243-248
DOI：10.1016/j.ifacol.2019.12.415
语种：English
出版社：Elsevier
摘要：In order to achieve disturbance rejection of the base while realizing the pre-capturing process under joint physical constraints (such as limited joint-angle, joint-velocity, joint-acceleration), this paper proposed an acceleration-level trajectory planning method for a dual-arm space robot. Firstly, the acceleration-level kinematic models are derived by using the velocity-level kinematics and linear and angular momentum conservation law. On this basis, the joint physical constraints are reformulated as a quadratic programming (QP) problem which can be converted to a piecewise-linear projection equation. Meanwhile, the improved damped least-squares (DLS) method is applied to design trajectory planning for the balance arm which is employed to keep the base disturbance free. Finally, simulation results verify the effectiveness of the proposed acceleration-level trajectory planning method.
关键词：Keywordsacceleration-leveltrajectory planningspace robotdisturbance rejectionjoint constraints