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Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm
In order to avoid damage to service satellites and targets during space missions and improve safety and reliability, it is necessary to study how to eliminate or reduce the rotation of targets. This paper focused on a space detumbling robot and studied the space detumbling robot dynamics and robot a...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8539719/ https://www.ncbi.nlm.nih.gov/pubmed/34683282 http://dx.doi.org/10.3390/mi12101231 |
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author | Chen, Ning Zhang, Yasheng Cheng, Wenhua |
author_facet | Chen, Ning Zhang, Yasheng Cheng, Wenhua |
author_sort | Chen, Ning |
collection | PubMed |
description | In order to avoid damage to service satellites and targets during space missions and improve safety and reliability, it is necessary to study how to eliminate or reduce the rotation of targets. This paper focused on a space detumbling robot and studied the space detumbling robot dynamics and robot arm deployment path planning. Firstly, a certain space detumbling robot with a ‘platform + manipulator + end effector’ configuration is proposed. By considering the end effector as a translational joint, the entire space detumbling robot is equivalent to a link system containing six rotating joints and three translational joints, and the detailed derivation process of the kinematic and dynamic model is presented. Then, ADAMS and MATLAB were used to simulate the model, and the MATLAB results were compared with the ADAMS results to verify the correctness of the model. After that, the robot arm deployment problem was analyzed in detail from the aspects of problem description, constraint analysis and algorithm implementation. An algorithm of robot arm deployment path planning based on the Bi-FMT* algorithm is proposed, and the effectiveness of the algorithm is verified by simulation. |
format | Online Article Text |
id | pubmed-8539719 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-85397192021-10-24 Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm Chen, Ning Zhang, Yasheng Cheng, Wenhua Micromachines (Basel) Technical Note In order to avoid damage to service satellites and targets during space missions and improve safety and reliability, it is necessary to study how to eliminate or reduce the rotation of targets. This paper focused on a space detumbling robot and studied the space detumbling robot dynamics and robot arm deployment path planning. Firstly, a certain space detumbling robot with a ‘platform + manipulator + end effector’ configuration is proposed. By considering the end effector as a translational joint, the entire space detumbling robot is equivalent to a link system containing six rotating joints and three translational joints, and the detailed derivation process of the kinematic and dynamic model is presented. Then, ADAMS and MATLAB were used to simulate the model, and the MATLAB results were compared with the ADAMS results to verify the correctness of the model. After that, the robot arm deployment problem was analyzed in detail from the aspects of problem description, constraint analysis and algorithm implementation. An algorithm of robot arm deployment path planning based on the Bi-FMT* algorithm is proposed, and the effectiveness of the algorithm is verified by simulation. MDPI 2021-10-10 /pmc/articles/PMC8539719/ /pubmed/34683282 http://dx.doi.org/10.3390/mi12101231 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Technical Note Chen, Ning Zhang, Yasheng Cheng, Wenhua Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm |
title | Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm |
title_full | Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm |
title_fullStr | Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm |
title_full_unstemmed | Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm |
title_short | Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm |
title_sort | space detumbling robot arm deployment path planning based on bi-fmt* algorithm |
topic | Technical Note |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8539719/ https://www.ncbi.nlm.nih.gov/pubmed/34683282 http://dx.doi.org/10.3390/mi12101231 |
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