空间桁架在轨装配机器人的运动规划方法

doi:10.12305/j.issn.1001-506X.2024.02.35

摘要/Abstract

摘要：

提出一种利用机器人完成空间桁架在轨装配的设计方案, 并针对其中机器人的无碰运动规划问题, 提出一种引入启发信息的运动规划方法。首先, 设计了装配机器人和空间桁架系统; 随后, 引入基于距离场的碰撞检测算法进行空间中的障碍检测, 并利用随机轨迹优化框架下的运动规划(stochastic trajectory optimization for motion planning, STOMP)算法进行机器人无碰运动规划; 针对其中随机叠加轨迹方向不确定导致的规划效率低的问题提出了启发式STOMP(heuristically STOMP, hSTOMP)运动规划算法。仿真结果表明该算法能够快速得到机器人的无碰平滑关节轨迹, 其中启发信息的引入大大提高了原算法的规划效率, 具有一定的理论意义和应用价值。

关键词: 在轨装配, 机器人, 随机优化, 运动规划

Abstract:

In this paper, a design scheme of using a robot to complete the on-orbit assembly of a space truss is proposed, and a motion planning method that introduces heuristic information is proposed for the collision-free motion planning problem of the robot. Firstly, an assembly robot and a space truss system are designed. Then, a collision detection algorithm based on distance field is introduced to detect obstacles in space, and the stochastic trajectory optimization for motion planning (STOMP) algorithm is used to plan the robot's collision-free motion. The heuristically STOMP (hSTOMP) motion planning algorithm is proposed to solve the problem of low efficiency caused by uncertain of the direction of stochastically-stacked trajectory. The simulation results show that the algorithm can quickly obtain the collision-free smooth joint trajectory of the robot. The introduction of heuristic information greatly improves the planning efficiency of the original algorithm, which has certain theoretical significance and application value.

Key words: on-orbit assembly, robot, stochastic optimization, motion planning

中图分类号:

V476

刘聪, 李海锋, 王明明, 罗建军. 空间桁架在轨装配机器人的运动规划方法[J]. 系统工程与电子技术, 2024, 46(2): 715-721.

Cong LIU, Haifeng LI, Mingming WANG, Jianjun LUO. Robot motion planning method for space truss on-orbit assembly[J]. Systems Engineering and Electronics, 2024, 46(2): 715-721.

图/表 8

图1

图2

图3

图4

图5

图6

图7

表3

参考文献 30

1	王雪瑶. 国外在轨服务系统最新发展(下)[J]. 国际太空, 2017, (11): 65- 69.
	WANG X Y . Development of foreign on-orbit service systems[J]. Space International, 2017, (11): 65- 69.
2	谭春林, 刘永健, 于登云. 在轨维护与服务体系研究[J]. 航天器工程, 2008, 17 (3): 45- 50.
	TAN C L , LIU Y J , YU D Y . Research on system of on-orbit spacecraft maintenance and servicing[J]. Spacecraft Engineering, 2008, 17 (3): 45- 50.
3	李团结, 马小飞, 华岳, 等. 大型空间天线在轨装配技术[J]. 载人航天, 2013, 19 (1): 86- 90.
	LI T J , MA X F , HUA Y , et al. On-orbit assembly technology of large space antennas[J]. Manned Spaceflight, 2013, 19 (1): 86- 90.
4	OEGERLE W R, PURVES L R, BUDINOFF J G, et al. Concept for a large scalable space telescope: in-space assembly[C]//Proc. of the Space Telescopes and Instrumentation I: Optical, Infrared, and Millimeter. International Society for Optics and Photonics, 2006: 755-766.
5	CHENG Z A , HOU X , ZHANG X , et al. In-orbit assembly mission for the space solar power station[J]. Acta Astronautica, 2016, 129, 299- 308. doi: 10.1016/j.actaastro.2016.08.019
6	PEIMANI N , KAMALIPOUR H . Access and forms of urbanity in public space: transit urban design beyond the global north[J]. Sustainability, 2020, 12 (8): 3495. doi: 10.3390/su12083495
7	WHITTAKER W, URMSON C, STARITZ P, et al. Robotics for assembly, inspection, and maintenance of space macrofacilities[C]//Proc. of the AIAA Space Conference, 2000.
8	UENO H, SATOH H, AOKI S, et al. On-orbit construction experiment by tele-operated robot arm[C]//Proc. of the Space Sciences and Technology Conference, 1997.
9	HOYT R P. SpiderFab: an architecture for self-fabricating space systems[C]//Proc. of the AIAA Space Conference and Exposition, 2013: 5509.
10	BROOKS S, GODART P, BACKES P, et al. An untethered mobile limb for modular in-space assembly[C]//Proc. of the IEEE Aerospace Conference, 2016.
11	BOWMAN L M, BELVIN W K, KOMENDERA E E, et al. In-space assembly application and technology for NASA's future science observatory and platform missions[C]//Proc. of the SPIE Space Telescopes and Instrumentation: Optical, Infrared, and Millimeter Wave, 2018: 10698.
12	刘华军, 杨静宇, 陆建峰, 等. 移动机器人运动规划研究综述[J]. 中国工程科学, 2006, 8 (1): 85- 94.
	LIU H J , YANG J Y , LU J F , et al. Research on mobile robots motion planning[J]. Engineering, 2006, 8 (1): 85- 94.
13	GUO J M, LIU L, LIU Q, et al. An improvement of D * algorithm for mobile robot path planning in partial unknown envi- ronment[C]// Proc. of the 2nd International Conference on Intelligent Computation Technology & Automation, 2009: 394-397.
14	ZHANG T , ZHU Y , SONG J Y . Real-time motion planning for mobile robots by means of artificial potential field method in unknown environment[J]. Industrial Robot: An International Journal, 2010, 37 (4): 384- 400. doi: 10.1108/01439911011044840
15	TIAN L , COLLINS C . An effective robot trajectory planning method using a genetic algorithm[J]. Mechatronics, 2004, 14 (5): 455- 470. doi: 10.1016/j.mechatronics.2003.10.001
16	WANG M M , LUO J J , WALTER U . Trajectory planning of free-floating space robot using particle swarm optimization (PSO)[J]. Acta Astronautica, 2015, 112, 77- 88. doi: 10.1016/j.actaastro.2015.03.008
17	KAVRAKI L, LATOMBE J C. Randomized preprocessing of configuration for fast path planning[C]//Proc. of the IEEE International Conference on Robotics and Automation, 1994: 2138-2145.
18	LAVALLE S M. Rapidly-exploring random trees: a new tool for path planning[R]. Iowa: Iowa State University, 1998.
19	KUFFNER J J, LAVALLE S M. RRT-connect: an efficient approach to single-query path planning[C]//Proc. of the IEEE International Conference on Robotics and Automation, Symposia Millennium Conference, 2000: 995-1001.
20	KARAMAN S , FRAZZOLI E . Sampling-based algorithms for optimal motion planning[J]. The international Journal of Robotics Research, 2011, 30 (7): 846- 894. doi: 10.1177/0278364911406761
21	URMSON C, SIMMONS R. Approaches for heuristically biasing RRT growth[C]//Proc. of the IEEE/RSJ International Conference on Robots and Systems, 2003, 2: 1178-1183.
22	冯来春, 梁华为, 杜明博, 等. 基于A * 引导域的RRT智能车辆路径规划算法[J]. 计算机系统应用, 2017, 26 (8): 127- 133.
	FENG L C , LIANG H W , DU M B , et al. Guiding-area RRT path planning algorithm based on A * for intelligent vehicle[J]. Computer Systems & Applications, 2017, 26 (8): 127- 133.
23	GAMMELL J D, SRINIVASA S S, BARFOOT T D. Informed RRT * : optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic[C]//Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014: 2997-3004.
24	RATLIFF N, ZUCKER M, BAGNELL J A, et al. CHOMP: gradient optimization techniques for efficient motion planning[C]//Proc. of the IEEE International Conference on the Robotics and Automation, 2009: 489-494.
25	KALAKRISHNAN M, CHITTA S, THEODOROU E, et al. STOMP: stochastic trajectory optimization for motion planning[C]//Proc. of the IEEE International Conference on Robotics and Automation, 2011: 4569-4574.
26	YOON Y, RUS D. Shady3D: a robot that climbs 3D trusses[C]//Proc. of the IEEE International Conference on Robotics and Automation, 2007: 4071-4076.
27	JENETT B , ABDEL-RAHMAN A , CHEUNG K , et al. Material-robot system for assembly of discrete cellular structures[J]. IEEE Robotics and Automation Letters, 2019, 4 (4): 4019- 4026. doi: 10.1109/LRA.2019.2930486
28	游斌弟, 温晓雷, 刘育强, 等. 空间细胞机器人面向桁架在轨攀爬步态分析[J]. 宇航学报, 2020, 41 (5): 521- 530.
	YOU B D , WEN X L , LIU Y Q , et al. Gait analysis of cellular space robot for on-orbit climbing truss[J]. Journal of Astronautics, 2020, 41 (5): 521- 530.
29	江励. 双手爪式模块化仿生攀爬机器人的研究[D]. 广州: 华南理工大学, 2012.
	JIANG L. Development and analysis of a bio-inspired modular biped climbing robot[D]. Guangzhou: South China University of Technology, 2012.
30	YE Q Z. The signed Euclidean distance transform and its applications[C]//Proc. of the IEEE 9th International Conference on Pattern Recognition, 1988: 495-499.

算法结果对比	STOMP	hSTOMP
成功次数	39/50	49/50
平均迭代次数(总体)	22.98	21.78
平均迭代次数(成功)	15.83	19.78
平均代价函数收敛值	18.97	18.96

[1]	张宝琛, 惠建江, 张琦, 刘正雄, 黄攀峰. 面向冗余机械臂避障运动规划的触控交互技术[J]. 系统工程与电子技术, 2024, 46(1): 254-260.
[2]	曾颖, 李彦锋, 王弘毅, 钱华明, 黄洪钟. 联合MRGP和PSO的工业机器人驱动器可靠性分析[J]. 系统工程与电子技术, 2023, 45(8): 2643-2650.
[3]	李广强, 董文超, 朱大庆, 于越, 陈浩, 于双和. 基于改进鲸鱼优化算法的AUV三维路径规划[J]. 系统工程与电子技术, 2023, 45(7): 2170-2182.
[4]	陈恺丰, 田博睿, 李和清, 赵晨阳, 陆祖兴, 李新德, 邓勇. 基于DDPG算法的双轮腿机器人运动控制研究[J]. 系统工程与电子技术, 2023, 45(4): 1144-1151.
[5]	柳子然, 戴梓健, 岳程斐, 王培基, 曹喜滨. 基于高斯混合过程的空间机器人任务空间预测控制方法[J]. 系统工程与电子技术, 2023, 45(11): 3597-3605.
[6]	张浩杰, 梁荣敏, 张玉东. 基于人在回路的地面无人平台仿真系统设计[J]. 系统工程与电子技术, 2022, 44(2): 538-545.
[7]	闫安, 陈章, 董朝阳, 何康辉. 基于模糊强化学习的双轮机器人姿态平衡控制[J]. 系统工程与电子技术, 2021, 43(4): 1036-1043.
[8]	卫恒, 吕强, 林辉灿, 张洋, 梁建. 多机器人SLAM后端优化算法综述[J]. 系统工程与电子技术, 2017, 39(11): 2553-2565.
[9]	魏武, 袁银龙, 王新梅. 基于影响系数原理的六足机器人运动状态分析[J]. 系统工程与电子技术, 2016, 38(2): 375-381.
[10]	黄攀峰, 张帆, 刘彬彬, 马骏. 辐射开环空间绳系机器人编队自旋转速最优控制[J]. 系统工程与电子技术, 2015, 37(6): 1362-1369.
[11]	奔粤阳, 郭妍, 李敬春, 李倩, 霍亮. 基于联合分布状态信息滤波的机器人协同定位[J]. 系统工程与电子技术, 2015, 37(2): 385-393.
[12]	高伟, 杨建, 刘菊, 徐博, 史宏洋. 基于水声通信延迟的多UUV协同定位算法[J]. 系统工程与电子技术, 2014, 36(3): 539-545.
[13]	尹逊和, 樊雪丽, 张红. 基于异步动态的多机器人系统的一致性[J]. 系统工程与电子技术, 2014, 36(12): 2426-2434.
[14]	李彤, 贾庆轩, 陈钢, 孙汉旭. 面向轨迹跟踪任务的机器人运动可靠性评估[J]. 系统工程与电子技术, 2014, 36(12): 2556-2561.
[15]	郝大鹏，傅卫平，王雯. 基于行为动力学的移动机器人安全导航方法[J]. 系统工程与电子技术, 2014, 36(1): 136-142.