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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...

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Detalles Bibliográficos
Autores principales: Chen, Ning, Zhang, Yasheng, Cheng, Wenhua
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
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.
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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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