Technology Research On Motion Planning Of Free Flying Space Welding Robot

In the future, FFSWR(Free Flying Space Welding Robot) will inevitably substitute for astronauts'welding work outside cabin because it can greatly reduce the dangerous coefficient and the cost of operation outer space as well as safeguards astronauts'safety and so on merits. Now, much of the kinematics, dynamics and control of FFSWR need to be studied. The paper emphasizes the motion planning of FFSWR, which is a key technology in maintance and assembly of future space station and embodies important science sense and academic value.Based on the existing research, the kinematics geometry model of FFSWR is given. The geometry and angle velocity formula about every joint of FFSWR is deduced, and Generalized Jacobian Matrix is also given to describe the coupled relationship between robot body and its mechanical arms by using robot characteristics. Then, the characteristic, principle and application method of genetic algorithm are introduced, which is applied to optimize FFSWR motion in the entire dissertation. So it is a keystone in this paper.Motion planning of welding operation of FFSWR is the key in the dissertation. First, robot's work space is described and deduced, then, in space station FFSWR's non-collision safe operation is studied for dual-arm robot to arrive at a target safely. On the basis of the above work, dual arm coordinated welding operation of one robot and coordinated welding operation of dual robot are further studied by using genetic algorithm. Finally, simulation experiment is carried out by virtual of Matlab computer software and the error analysis is performed. Simulation tests show the feasibility of the approach. The test results indicate the genetic algorithm is effective to the motion planning of FFSWR.