针对目标以任意轨迹运动且其轨迹可能与``有保证工作空间''不相交的问题, 提出了空间机器人捕获运动目标的协调规划与控制方法. 首先, 根据手眼视觉测量数据, 预测目标的运动路径, 由此确定空间机器人对目标的最优交会姿态及最佳捕获臂型; 其次, 规划基座姿态及机械臂关节角的轨迹; 最后, 采用协调控制的方法, 实现空间机器人系统对运动目标的最优捕获(以最优交会姿态及最佳捕获臂型对目标进行捕获). 仿真结果表明了该方法的有效性.
Aiming at the case that the target may move along an arbitrary trajectory, that may not cross the ``guaranteed workspace''(GSW), we propose a coordinated planning and control (CPC) method to generate the motions of the base attitude and manipulator joints for autonomous rendezvous with and capturing the moving target. Firstly, the target's trajectory is predicted according to the measurements of the hand-eye camera, and the ``optimal rendezvous attitude'' of the base and the ``optimal capturing configuration'' of the manipulator are determined. Then, the trajectories of the base attitude and the joint angles are planned. Lastly, the coordinated controllers are designed to drive the base and the joints to follow the desired motions for capturing the moving target with the ``optimal rendezvous attitude'' and the``optimal capturing configuration''. Simulation results have verified the proposed method.