| 摘要: |
| 空间机器人可以在宇宙空间自由飞行或浮游,协助或代替宇航员完成空间焊接作业。以平面自由漂浮双臂空间机器人为对象,研究了焊枪跟踪空间焊缝的位置与姿态的路径规划问题。在双臂空间机器人运动学模型基础上,对焊枪末端点速度的计算方法进行了深入讨论和分析,进而将空间机器人双臂末端点速度的求解问题定义为一个高维空间搜索问题,并采用遗传算法对其进行了优化计算,最后提出了双臂空间机器人跟踪空间焊缝的运动规划算法,并通过直线与圆弧焊缝跟踪的仿真试验进行了验证和分析。 |
| 关键词: 空间机器人 运动规划 焊缝 跟踪 |
| DOI： |
| 分类号: |
| 基金项目:黑龙江省自然科学基金资助项目(F2007-03);黑龙江省教育厅科研项目(11511018) |
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| Space welding seamtracking beased on free floating space robot |
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GAO Sheng, CHANG Yulian, ZHANG Ruijie, REN Yongliang
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School of Mechanical Science and Engineering, Daqing Petroleum Institute, Daqing 163318, Heilongjiang, China
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| Abstract: |
| Space robot can fly or float in the space to help or replace astronauts to perform space welding task.For a planar free floating dual-arm space robot, the path planning of welding torch position and configuration in tracking space weld is studied.On the basis of kinetic model of dual-arm space robot, the computational approach of robot arm end velocity is discussed and analyzed, and the solution of dual-arm end velocity is defined as a multi-dimentional searching problem, which is solved by introducing Genetic Algrithom to optimize calculation parameter.Finally, an algrithom of path planning of dual-arm space robot tracking space weld is proposed, which is verified and analyzed by two simulation experiments of line and arc welding seam tracking. |
| Key words: space robot motion planning weld tracking |
