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针对机械臂规划方法无法满足CE-3巡视器成像及探测光照约束、避碰及机械臂位形切换次数等约束的不足,提出一种基于SA*的月面巡视器机械臂就位探测任务规划算法。该算法在机械臂的工作空间进行搜索,根据星历计算太阳光照以解决光照约束,通过层次包围盒高效准确地进行机械臂碰撞检测以满足机械臂与环境不存在干涉的约束条件,通过相邻运动行为的代价削减保证规划后机械臂位形切换次数最少。最终通过月面巡视器在轨任务结果验证该算法的可行性。
In view of the shortcomings of the planning method of robotic arm, such as constraint of imaging and detection illumination of CE-3 patrol, avoidance of collision and number of switching of configuration of robotic arm, a SA * lunar patrol robot arm in-position probing mission planning algorithm. The algorithm searches the work space of the manipulator, calculates the sunlight according to the ephemeris to solve the light constraint, and performs the arm collision detection efficiently and accurately through the hierarchical bounding box to meet the constraint that there is no interference between the manipulator and the environment. Reduced cost of exercise to ensure that the layout of the robot arm after the least number of switching. Finally, the feasibility of this algorithm is verified by the on-orbit mission results of lunar patrol.