空间非合作目标多指包络抓捕路径设计

万文娅; 孙冲; 袁建平

doi:10.7527/S1000-6849.2020.24041

航空学报 >

2020 , Vol. 41 >Issue 12: 324041 - 324041

DOI: https://doi.org/10.7527/S1000-6849.2020.24041

电子电气工程与控制

空间非合作目标多指包络抓捕路径设计

万文娅 ,
孙冲 ,
袁建平

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西北工业大学航天学院, 西安 710072

收稿日期: 2020-03-31

修回日期: 2020-05-11

网络出版日期: 2020-12-24

基金资助

国家自然科学基金（11802238）

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Multi-finger caging-based gripping path design for space non-cooperative targets

WAN Wenya ,
SUN Chong ,
YUAN Jianping

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School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China

Received date: 2020-03-31

Revised date: 2020-05-11

Online published: 2020-12-24

Supported by

National Natural Science Foundation of China (11802238)

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摘要

针对现有空间非合作目标抓捕中存在无固定抓捕点以及待抓捕目标存在动态性等问题，提出了一种"主-从"式多指包络抓捕路径设计算法。首先，为了降低多指包络构型设计中的自由度，将多指机构分为一根主手指和其余从手指两类。然后，为了实现对具有动态性的空间非合作目标的抓捕，采用误差跟踪控制方法使主手指的基关节与包络点之间的运动保持同步。接着，引入单向距离的概念衡量主手指构型和包络边相似度，并利用快速搜索随机树算法寻找使得单向距离最小的主手指关节角取值。进一步，根据多指机构的结构模型，确定其余从手指的构型。最后，根据包络条件选择能够约束住空间非合作目标运动的有效包络构型。通过对可以简化为扁平型的空间非合作目标和一般性三维空间非合作目标这两类目标的包络抓捕仿真可以得出，所设计的算法可适用于一般性空间非合作目标的包络抓捕，同时计算复杂度也大大降低。

关键词： 非合作目标抓捕; "主-从"式多指包络算法; 运动同步; 单向距离; 结构模型

本文引用格式

万文娅 , 孙冲 , 袁建平 . 空间非合作目标多指包络抓捕路径设计[J]. 航空学报, 2020 , 41(12) : 324041 -324041 . DOI: 10.7527/S1000-6849.2020.24041

Abstract

Space non-cooperative target capturing is challenging due to the lack of gripping points and the dynamics of the capture targets. A novel multi-finger caging-based gripping path design algorithm with a "Leader-Follower" mode for space non-cooperative targets is proposed. Firstly, to reduce the degrees of freedom, we divide the fingers of the multi-fingered mechanism into one leading finger and the other following fingers. Then, the base joint of the leading finger is controlled to track the caging point using the error control strategy to realize the synchronous motion with the target. In addition, the concept of "One Way Distance" is introduced to measure the similarity between the shape of the leading finger and the caging edge, and the Rapid-exploring Random Trees algorithm is adopted to search the joint angles of the leading finger that can cause the minimum one way distance. Furthermore, possible configurations of the other following fingers are determined according to the structural model of the multi-fingered mechanism. Finally, caging conditions are utilized to obtain effective caging configurations. The proposed algorithm is applied in the caging of a moving planar non-cooperative target and a moving three-dimensional non-cooperative target, respectively. The simulation results show that the proposed algorithm is both applicable for general space non-cooperative target capture and efficient in reducing computational complexity.

Key words： space non-cooperative target capture; caging algorithm with "Leader-Follower" mode; synchronous motion; one way distance; structural model

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