Hybrid task priority-based motion control of a redundant free-floating space robot

查看全文 作　　者：Cheng [1]ZHOU;Minghe [1]JIN;Yechao [1]LIU;Zongwu [1]XIE;Hong [1]LIU

机构地区：[1]State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

出　　处：《Chinese Journal of Aeronautics》索引2017年第30卷第6期,共10页

基　　金：supported in part by the National Program on Key Basic Research Project (No. 2013CB733103);the Program for New Century Excellent Talents in University (No. NCET-10-0058) 摘　　要：This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task's null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology. 关键词：基于态度控制混合任务优先级打手势计划多重限制冗余的空间机器人

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Hybrid task priority-based motion control of a redundant free-floating space robot

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