冗余空间机器人基座姿态调整的笛卡尔路径规划

空间机器人系统的机械臂和基座之间存在着动力学耦合，为了保证笛卡尔路径规划的同时可以调整基座的姿态，文章以冗余自由度空间机器人为研究对象，首先建立了空间机器人系统的运动学方程；由于存在一定的冗余度，通过将基座姿态运动方程与广义雅可比矩阵组合得到扩展后的雅可比矩阵，实现了基座和机械臂运动的协调规划；最后讨论了基座姿态无扰路径规划，并与零空间法进行了对比。建立平面三自由度空间机器人系统，分别采用零空间法和扩展雅可比矩阵法进行了基座姿态无扰路径规划和基座姿态跟踪路径规划，仿真结果验证了方法的有效性。

Cartesian Path Planning for Base Attitude Adjustment of Redundant Space Robot

There exists dynamic coupling between space manipulator and their spacecraft. In order to plan the cartesian path with the base attitude adjusted at the same time, this article takes the redundant space robot as the object of research. First the kinematics equation of space robot system is established. Due to the presence of a certain degree of redundancy, the equations of motion of the base attitude and the generalized Jacobian matrix are combined to obtain the extended Jacobian matrix, thus realizing the coordinated planning of the base and the manipulator. At last the zero-disturbance base attitude is analyzed and the extended Jacobian matrix is compared with the null-space method. A planar 3-DOF space robot system is designed for simulation. Both the extended Jacobian matrix method and the null-space method are used for zero-disturbance base attitude path planning and base attitude tracking path planning. The results demonstrate effectiveness of the proposed method.