A fault tolerant path planning method for space manipulator based on position and orientation reachable space

JIA Qingxuan; WANG Xuan; CHEN Gang; SUN Hanxu; GUO Wen

doi:10.7527/S1000-6893.2018.22000

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2018 , Vol. 39 >Issue 8: 422000 - 422000

DOI: https://doi.org/10.7527/S1000-6893.2018.22000

Material Engineering and Mechanical Manufacturing

A fault tolerant path planning method for space manipulator based on position and orientation reachable space

JIA Qingxuan ,
WANG Xuan ,
CHEN Gang ,
SUN Hanxu ,
GUO Wen

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School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received date: 2018-01-06

Revised date: 2018-03-19

Online published: 2018-03-19

Supported by

National Natural Science Foundation of China (61573066,61403038);National Basic Research Program of China (2013CB733000)

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Abstract

In order that the space manipulator can complete follow-up tasks after the joint-locked failure, a fault tolerant path planning method for the space manipulator is proposed based on position and orientation reachable space. The Newton-Raphson method is used to compute artificial joint limits of the space manipulator, and the degraded workspace that can meet the task requirements is obtained. By constructing orientation reachability indexes, the position and orientation reachable space relative to base calibration is then established. The traditional A^* algorithm is evolved by adding the minimum singular value cost to the evaluation function. In the established position and orientation reachable space, the fault tolerant path planning of the space manipulator is realized by the evolved A^* algorithm. The proposed method, which integrates the advantages of the position and orientation reachable space and the evolved A^* algorithm, realizes trajectory searching of the space manipulator and meet the requirements for singularity avoiding and reachability of position and orientation after the joint-locked failure. A kinematic model for the 7-DOF manipulator is built, and numerical simulation is carried out. Simulation results verify the effectiveness of the proposed method.

Key words： space manipulator; artificial joint limit; position and orientation reachable space; evolved A^* algorithm; fault tolerant path planning

Cite this article

JIA Qingxuan , WANG Xuan , CHEN Gang , SUN Hanxu , GUO Wen . A fault tolerant path planning method for space manipulator based on position and orientation reachable space[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018 , 39(8) : 422000 -422000 . DOI: 10.7527/S1000-6893.2018.22000

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