Path planning of a free-floating space robot based on the degree of controllability

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• 作者：XingHong Huang ; YingHong Jia ; ShiJie Xu
• 关键词：free ; floating space robot(FFSR) ; underactuated system ; path planning ; degree of controllability ; controllability measurement ; nilpotent approximation ; weighted A* algorithm ; optimal self ; correcting method
• 刊名：Science China Technological Sciences
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：60
• 期：2
• 页码：251-263
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Engineering, general;
• 出版者：Science China Press
• ISSN：1869-1900
• 卷排序：60

文摘

An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot (FFSR) system by proposing a concept of degree of controllability (DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controllability-measurement (LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy.