Fault-Tolerant Trajectory Planning And Experiment Research On The 6R Space Robot System

Space robot includes the free-flying space robot, attached space robot for servicing on orbit, space robot mounted in capsule and space robot for planet exploration. With the space 6R robot as the research object, this disertation divides the space robot into two categories, one of which is the free-flying robot, the other is the fixed-base-like space robot, and makes the kinematics modeling, motion planning, fault tolerant planning and carries several tests and experiments to validate the proposed algorithms.Research on the motion planning problems for a space 6R robot is performed. Kinematics and dynamics analysis are done for the free flying 6R robot. Then after kinematics modeling for the capsule mounted 6R camera robot is done, 8 groups of analytical solutions are obtained and a trajectory planning algorithm is proposed to satisfy the tasks requirements.The broken-down mode and fault tolerant techniques are introduced. Then an intuitionistic fault tolerant motion planning algorithm for space 6R robot is designed to improve the reliability of tasks accomplishment when one of the six joints is broken down.The modeling of virtual prototype technique is researched and a virtual prototype of a space 6R robot is established. Based on this virtual prototype, the kinematics and dynamics simulations are done to validate the schemed algorithms for motion planning. A simulation experiment is made to fulfill the whole capturing process lasting from the folded status to the capturing status of space robot. In addition, the impact of the capturing operation on the whole system is analyzed.A virtual reality model is created in Visual C++ environment by utilizing OpenGL to validate the motion planning algorithm. Moreover, a ground test is done to approve the validity of the fault tolerant algorithm based on an in-capsule 6R robot made out of 9 degrees of freedom modular robot. Based on the space geometric theory, a highly time-consuming efficient collision detection algorithm for space robot is researched. The validity of this algorithm is demonstrated on the virtual reality model of the capsule mounted camera robot.Research on the fault tolerant motion planning techniques and relate(?) experiments will enrich the production on the study of the space robot of ou(?) country and build a solid theoretical and technical foundation for the space exploration.