Research On Path Planning And Ground Experiment Of Space Manipulator

With the space activities increasing, the use of space manipulators replacingastronauts to do space activities is the new trend of space explore. In space, due tothe dynamic coupling between the space manipulator and its base, spacemanipulator would disturb its base’s position and attitude. So, this paper studies thespace manipulator path planning algorithm to make the base attitude disturbancecaused by manipulator movement minimum. In order to guarantee the validation ofthe algorithm, the air-bearing ground simulation experiment system is selected totest the algorithm, and the credibility of experiment system is analyzed through ofdynamics model.Firstly, this paper introduces the current development of space manipulator, itspath planning algorithm, and its ground simulation experiment systems. Theadvantages and disadvantages of various ground simulation systems are analyzed.Secondly, this paper establishes the kinematics and dynamics equations ofthree kinds of working mode of space manipulator. The dynamics model isestablished by Lagrange method. The space manipulator’s dynamics parameters aregiven, which is studied in this paper.Nextly, this paper studies the path planning algorithm of space manipulators.At first, the algorithm of point-to-point in the cartesian space is studied, althoughthe manipulator’s point-to-point motion can be achieved, but the disturbance of baseattitude is not considered in the solving process. Then, the problem of continuouspath tracking is accomplished by means of the inverse of generalized Jacobi matrixmethod, and this method ensure that the manipulator’s motion do not disturb its baseattitude, but the generalized Jacobi matrix singularity problem limits the applicationof this method. In order to reduce the base attitude disturbance by manipulator’smotion, and overcome the Jacobi matrix singularity problem. This paper, using thesine function to parametric manipulator joints function, choosing the particle swarmoptimization (PSO) algorithm as the optimization strategy, realizes the optimizationof the base attitude disturbance minimum when the manipulator is in free-floatingstate, and the base disturbance torque minimum when manipulator is in free-flyingcondition. The validity of the algorithm is verified by numerical simulation.Finally, after the analysis of all kinds of space manipulator ground simulationmethods, this paper chooses air-bearing ground experiment method to test pathplanning algorithm. The credibility of ground experiment system is analyzed, whichis influenced by disturbance. This paper also studies the composition of experiment system, designs the experimental scheme of algorithm to provide reference foralgorithm experiment.