中国空间科学技术

中国空间科学技术 ›› 2022, Vol. 42 ›› Issue (3): 49-57.doi: 10.16708/j.cnki.1000-758X.2022.0035

• 论文 • 上一篇    下一篇

多空间机器人协同工作空间的数值求解方法

龚轲杰，王勇，段玉瑞，梅亚飞，廖瑛   

  1. 1国防科技大学 空天科学学院，长沙410073
    2宇航动力学国家重点实验室，西安710043
    3航天器在轨故障诊断与维修重点实验室，西安710043
  • 出版日期:2022-06-25 发布日期:2022-06-21

Numerical methods for collaborative workspace of multi-space-robot system

GONG Kejie, WANG Yong, DUAN Yurui, MEI Yafei, LIAO Ying   

  1. 1College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073，China
    2State Key Laboratory of Astronautic Dynamics, Xi′an 710043, China
    3Key Laboratory for Fault Diagnosis and Maintenance of Spacecraft inOrbit, Xi′an 710043, China
  • Published:2022-06-25 Online:2022-06-21

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摘要： 针对未来在轨服务过程中，可能遇到单个空间机器人难以独立胜任的应用场景，需要多个空间机器人协同操作，但目前针对多空间机器人协同工作空间的研究很少。考虑到解析法计算工作空间难度很大，提出了一种基于蒙特卡洛法的一般协同工作空间数值求解方法。再进一步针对空间机器人协同的特殊性，提出了广义协同工作空间的概念，并给出了数值求解方法。仿真结果表明，基座姿态约束会引起协同工作空间的缩小，同时广义协同工作空间的范围明显大于一般协同工作空间。所得结论可以为空间机器人任务设计与规划提供参考。

关键词: 空间机器人, 协同工作空间；蒙特卡洛法；旋量理论;运动学建模

Abstract: Aiming at the application scenarios where it may be difficult for a single space robot to perform independently during on-orbit serving process in the future, a multi-space-robot serving system was designed. However, collaborative workspace of multi-space-robot system has rarely been studied. Considering that workspace is very difficult to calculate with analytical method, a numerical calculation method was proposed for ordinary collaborative workspace based on Monte Carlo method. Furthermore, aiming at the particularity of space robot collaboration, the concept of generalized collaborative workspace was proposed, and a numerical solution method was presented. The simulation results show that the attitude constraint of the base causes reduction of collaborative workspace. Moreover, the scope of the generalized collaborative workspace is obviously larger than the general one. The conclusions can provide quantitative basis for space robot task design and planning.

Key words: space robot, collaborative workspace, Monte Carlo method, screw theory, kinematical modelling