文章基本信息

标题：Manipulability Optimization for Coordinated Motion Control of Multi-arm Space Robots
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作者：Ruonan Xu ; Jianjun Luo ; Mingming Wang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9853-9858
DOI：10.1016/j.ifacol.2020.12.2690
语种：English
出版社：Elsevier
摘要：AbstractBy maximizing manipulability, the coordination of multi-arm can be enhanced. In this paper, a method to optimize the manipulability index of cooperative manipulation for a free-floating multi-arm space robot is proposed. Firstly, the manipulability optimization is formulated as a nonlinear optimize problem at position level which is hard to solve online. By redefining constraint equation and manipulability index, it is transformed to a constrained quadratic program problem at velocity level incorporating joint velocity physical limits, which generates joint velocity commands to control the multi-arm to complete predefined tasks. Owing to dynamic coupling effects and closed chain constraints formed by cooperative manipulation, the manipulability index is more complex than that of fixed-base or mobile-base manipulators. Hence, the gradient of the index is approximated by numerical algorithms. Simulations based on a dual-arm space robot model are conducted and the results prove that the proposed method is efficient to optimize the manipulability index.
关键词：Keywordsmotion controlspace robotsmulti-armcooperative manipulationmanipulability optimization