CN115284293B - Multi-mode path planning system and method for space station manipulator adapting to complex tasks - Google Patents
Multi-mode path planning system and method for space station manipulator adapting to complex tasks Download PDFInfo
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Abstract
本发明公开了一种适应复杂任务的空间站机械臂多模式路径规划系统和方法，系统包括：指令处理模块、规划算法模块和基础计算模块；指令处理模块接收由操作台输入的控制指令，对指令格式和数据信息进行解析，解析后的数据信息输出给规划算法模块作为计算输入；规划算法模块实现多种运动模式规划算法计算；接收指令处理模块输出的数据参数，选择相应的运动模式，输出期望关节角度和期望角速度序列数据给基础计算模块；基础计算模块实现基础计算功能，实现末端位姿/速度与关节角度/速度之间转换，将检测无碰撞的期望关节角度和期望角速度序列数据输出给关节控制器。本发明解决复杂条件约束下的安全快速路径规划问题。
The present invention discloses a multi-mode path planning system and method for a space station manipulator adapted to complex tasks. The system comprises: an instruction processing module, a planning algorithm module and a basic calculation module; the instruction processing module receives the control instruction input by the operating console, parses the instruction format and data information, and outputs the parsed data information to the planning algorithm module as a calculation input; the planning algorithm module implements the calculation of multiple motion mode planning algorithms; receives the data parameters output by the instruction processing module, selects the corresponding motion mode, and outputs the expected joint angle and expected angular velocity sequence data to the basic calculation module; the basic calculation module implements the basic calculation function, realizes the conversion between the terminal posture/speed and the joint angle/speed, and outputs the expected joint angle and expected angular velocity sequence data detected without collision to the joint controller. The present invention solves the problem of safe and fast path planning under complex condition constraints.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a space station mechanical arm multi-mode path planning system and method.
Technical Field
The mechanical arm is one of important key technologies of space station engineering of manned space in China, and the space station mechanical arm is used for numerous tasks such as space station assembly construction, maintenance and repair, auxiliary space person cabin-leaving activities, supporting space application and the like. The surface equipment of the space station cabin body is more, the rotation envelope of the large solar wing is large, the range of measuring and controlling the antenna beam is wide, and equipment and the range of the antenna beam need to be avoided in the movement process of the mechanical arm; the space station mechanical arm also needs to complete dynamic tracking, accurate capturing and auxiliary transferring of the large-scale hovering cabin section. In order to achieve full coverage of the surface of the space station, the robotic arm is provided with a "crawling" function, which is movable between a plurality of "footprints" (see in particular 201910653256.5 "a foldable target adapter suitable for large tolerance capture) arranged on the surface of the cabin. The space station mechanical arm has the unique characteristics of large movement range, narrow accessible space, various tasks and the like due to the task requirement. The single-mode path planning method cannot meet the current task requirements.
The invention of publication No. CN113843791A (a mechanical arm multipoint motion track planning method) provides a tail end continuous track planning method suitable for multipoint constraint, and mainly solves the problem of continuous smoothing of the angle and the speed of a mechanical arm motion joint. The invention patent of publication No. CN113858205A (a seven-axis redundant mechanical arm obstacle avoidance algorithm based on improved RRT) provides a method for searching a collision-free progressive optimal path between a starting point and an expected target point by utilizing the RRT algorithm, and the method combines a heuristic strategy with the RRT algorithm, so that the planning speed is improved to a certain extent, but the method still needs to perform collision detection and path optimization after collision in real time on line, has high requirement on the performance of a computer, and has a safety distance near collision risk.
Based on the background, the current path planning method cannot adapt to the multi-task path planning requirement under the complex environment of the mechanical arm of the space station, and the efficient and safe path planning method under the condition constraints of strict time constraint of a research task, narrow movement space, complex task types and links and the like has very important significance.
Disclosure of Invention
The invention aims to solve the technical problems that the space station mechanical arm multi-mode path planning system and method suitable for complex tasks are provided, and the problem of safe and rapid path planning under the condition of limited computing resources, strict time constraint, narrow movement space, complex task types and links and the like is solved.
The technical problem to be solved by the invention is that a space station mechanical arm multi-mode path planning system adapting to complex tasks comprises an instruction processing module, a planning algorithm module and a basic calculation module;
the instruction processing module is used for receiving a control instruction input by the operation console, analyzing the instruction format and the data information, and outputting the analyzed data information to the planning algorithm module to be used as calculation input, wherein the data information comprises a preprogrammed instruction sequence number, a target point expected pose, a joint expected angle, joint speed/acceleration setting, terminal speed/acceleration setting and a visual servo target point pose;
The planning algorithm module is used for realizing the calculation of a plurality of motion mode planning algorithms, receiving data parameters output by the instruction processing module, selecting a corresponding motion mode, and outputting expected joint angle and expected angular speed sequence data to the basic calculation module, wherein the motion mode comprises a preprogrammed motion mode, a single joint position motion mode, a multi-joint linkage motion mode, a tail end linear motion mode, a tail end handle motion mode and a visual servo motion mode;
The basic calculation module realizes a basic calculation function, realizes the conversion between the tail end pose/speed and the joint angle/speed, and outputs the sequence data of the expected joint angle and the expected angular speed without collision to the joint controller, wherein the basic calculation comprises forward kinematics calculation, inverse kinematics calculation, construction of a speed continuous change displacement curve and collision detection calculation.
Further, the positive kinematics calculation is performed according to the DH parameter and the joint angle of the spatial mechanical arm, so that the pose of the tail end of the mechanical arm is calculated.
Further, the inverse kinematics calculation is performed, and the joint speeds of the mechanical arm are calculated according to the DH parameters and the tail end speeds of the spatial mechanical arm.
Further, the construction of the displacement curve with continuously variable speed includes:
And dividing the running path of the mechanical arm according to trapezoid rules, and obtaining a function expression of each section of a displacement curve with continuously-changing speed and taking time as an independent variable according to the starting point moment, the ending point moment, the acceleration time, the maximum speed and the displacement corresponding to the ending point.
Further, the collision detection calculation comprises a ground algorithm and an on-orbit algorithm;
The on-orbit algorithm is that a simplified geometric model is adopted for dynamic collision detection, a space station cabin body and a mechanical arm body are simplified into a plurality of cylindrical geometric models with outer envelopes, the collision detection is realized by calculating the distances between the bodies according to the joint actual angle traversal, and whether collision marks, collision parts and the distances between the parts occur or not is output;
The ground algorithm is that a scattered point scanning static space interference method is adopted, an outer envelope model is established for the space station cabin body and the mechanical arm body through the scattered point scanning method, all the distances among discrete points are calculated according to the actual angle traversal of the joint to realize collision detection, and whether collision identification occurs or not, specific collision points and the distances among the points on the component are output.
Further, in the pre-programmed movement mode, the central controller CPU pre-stores all the information of the expected angles and the expected angular speeds of the joints, and after receiving a pre-programmed control instruction sent by the operation platform, the central controller CPU reads pre-stored data of corresponding addresses, outputs the pre-stored data to each joint controller according to a control period and controls the output track of each joint;
in the preprogrammed movement mode, the desired angle and angular velocity of the joint is issued once in a control period.
Further, the single joint position mode includes:
After a single joint is selected, planning the position of the single joint, outputting a joint planning angle and angular speed instruction to a basic calculation module, and issuing the joint planning angle and angular speed instruction to a joint controller after verification of no collision until the joint controller runs in place;
The position planning of the single joint adopts trapezoidal joint speed planning of accelerating, then uniform speed and then decelerating to obtain the expected joint angular speed, and the joint angle command sequence is calculated according to a displacement curve method of continuously changing the construction speed in a basic algorithm module until the operation is in place, and the planning is finished.
Further, the multi-joint linkage movement mode includes:
After the target angle of each joint is selected, the position planning of the joint space is carried out, the angular velocity and angle command sequence is output to a basic calculation module, the angular velocity and angle command sequence is issued to a joint controller after no collision is verified until the joint controller runs in place, each joint simultaneously plans to move, the rotation angle required by each joint is calculated firstly, the maximum joint rotation deviation is obtained, the movement time is calculated by utilizing the maximum joint angle deviation and the maximum set velocity, the maximum movement velocity of the rest joints is recalculated according to the movement time, and the movement synchronization of each joint is ensured.
Further, the terminal rectilinear motion mode includes:
The terminal linear velocity planning is to calculate the terminal position and velocity at each moment according to the linear distance length between the initial terminal pose of the mechanical arm and the target terminal pose, the maximum velocity and the acceleration time;
And (3) angular velocity planning, namely calculating the expected gesture and angular velocity at each moment according to the deviation of the initial gesture and the termination gesture, the maximum angular velocity and the acceleration time.
Further, the tip handle movement pattern includes:
According to the task requirement, the terminal moving speed in the expected direction under the current coordinate system is given through the handle, the terminal moving speed under the space station base coordinate system is obtained through coordinate system transformation, the angular speed of each joint is obtained through inverse kinematics calculation, and the movement is finished until the input speed instruction of the handle is zero.
Further, the visual servo motion mode includes:
The pose information of the target is provided for a planning algorithm module through the pose information of the target measured by a wrist camera of the mechanical arm in real time, and the mechanical arm is enabled to autonomously move to a target point through a visual servo algorithm, so that tracking of a space moving target object is realized;
the visual servoing algorithm comprises:
(a) Calculating pose coordinate difference D oe of the target point coordinate system W relative to the terminal coordinate system T under the terminal coordinate system T and calculating distance D v between the terminal and the target point;
(b) Calculating the displacement S end＝vel*dt*Doe/dv of the next step, wherein vel is the set movement speed of the tail end of the mechanical arm, dt is a movement control period, and d v is the distance between the tail end and the target point;
(c) According to the end displacement S end, calculating two groups of joint angle values theta now and theta next corresponding to the beginning and the end by using a kinematic inverse solution, wherein theta now is a current joint angle value, and theta next is a joint angle value at the beginning of the next period;
(d) Judging whether the distance d v between the tail end and the target point is in a given error range or not, and whether the difference delta Eul between the tail end Euler angle and the target object attitude is in the given error range or not, if so, ending tracking, otherwise, returning to the step (a) to continue tracking until the condition is met.
The space station mechanical arm multi-mode path planning method of the space station mechanical arm multi-mode path planning system adapting to the complex task comprises the following steps:
The control instruction input by the operation desk is received, and the instruction format and the data information are analyzed, wherein the data information comprises a preprogrammed instruction sequence number, a target point expected pose, a joint expected angle, joint speed/acceleration setting, terminal speed/acceleration setting and a visual servo target point pose;
Selecting a corresponding movement mode according to the analyzed data information, and outputting expected joint angle and expected angular speed sequence data, wherein the movement mode comprises a preprogrammed movement mode, a single joint position movement mode, a multi-joint linkage movement mode, a tail end linear movement mode, a tail end handle movement mode and a visual servo movement mode;
and outputting the sequence data of the expected joint angle and the expected angular velocity without collision to a joint controller to control the joint motion.
Compared with the prior art, the invention has the advantages that:
According to the invention, a plurality of mechanical arm movement path planning modes are adopted, a proper path planning mode is selected according to the characteristics of each link of a task, and the problems of safe and rapid path planning under the conditions of limited calculation resources, strict time constraint, narrow movement space, complex task types and links and the like of the mechanical arm of the space station can be solved through the combination of the plurality of modes.
Drawings
FIG. 1 is a diagram of a robotic arm motion path planning system module;
FIG. 2 is a diagram of a 7 degree of freedom robotic arm coordinate system definition;
FIG. 3 is a graph of a velocity variation;
FIG. 4 is a graph of linear interpolation displacement;
FIG. 5 is a schematic diagram of a task-incorporated collision detection strategy;
FIG. 6 is a diagram of a robot arm tip trajectory;
FIG. 7 is a graph of end velocity profile with parabolic transitions;
Fig. 8 is a schematic diagram of a visual servo pattern.
Detailed Description
The invention is described with reference to the accompanying drawings.
The invention discloses a space station mechanical arm multi-mode path planning system and method suitable for complex tasks, which solve the problem of safe and rapid path planning under the constraint of conditions such as task types, complex links and the like by combining multiple path planning modes. The on-orbit simplified collision detection algorithm and the ground fine collision detection algorithm are combined to solve the problem of reliable path planning with limited space station mechanical arm satellite-borne computer capability and extremely high safety requirement.
As shown in FIG. 1, the space station mechanical arm multi-mode path planning system adapting to complex tasks comprises an instruction processing module, a planning algorithm module and a basic calculation module;
the instruction processing module is used for receiving a control instruction input by the operation console, analyzing the instruction format and the data information, and outputting the analyzed data information to the planning algorithm module to be used as calculation input, wherein the data information comprises a preprogrammed instruction sequence number, a target point expected pose, a joint expected angle, joint speed/acceleration setting, terminal speed/acceleration setting and a visual servo target point pose;
The planning algorithm module is used for realizing the calculation of a plurality of motion mode planning algorithms, receiving data parameters output by the instruction processing module, selecting a corresponding motion mode, and outputting expected joint angle and expected angular speed sequence data to the basic calculation module, wherein the motion mode comprises a preprogrammed motion mode, a single joint position motion mode, a multi-joint linkage motion mode, a tail end linear motion mode, a tail end handle motion mode and a visual servo motion mode;
The basic calculation module realizes a basic calculation function, realizes the conversion between the tail end pose/speed and the joint angle/speed, and outputs the sequence data of the expected joint angle and the expected angular speed without collision to the joint controller, wherein the basic calculation comprises forward kinematics calculation, inverse kinematics calculation, construction of a speed continuous change displacement curve and collision detection calculation.
And calculating positive kinematics, and calculating the pose of the tail end of the mechanical arm according to the DH parameters and the joint angles of the spatial mechanical arm.
And calculating the inverse kinematics, and calculating the joint speed of the mechanical arm according to the DH parameter and the tail end speed of the spatial mechanical arm.
The construction of the displacement curve with continuously variable speed comprises the following steps:
And dividing the running path of the mechanical arm according to trapezoid rules, and obtaining a function expression of each section of a displacement curve with continuously-changing speed and taking time as an independent variable according to the starting point moment, the ending point moment, the acceleration time, the maximum speed and the displacement corresponding to the ending point.
The collision detection calculation comprises a ground algorithm and an on-orbit algorithm;
The on-orbit algorithm is that a simplified geometric model is adopted for dynamic collision detection, a space station cabin body and a mechanical arm body are simplified into a plurality of cylindrical geometric models with outer envelopes, the collision detection is realized by calculating the distances between the bodies according to the joint actual angle traversal, and whether collision marks, collision parts and the distances between the parts occur or not is output;
The ground algorithm is that a scattered point scanning static space interference method is adopted, an outer envelope model is established for the space station cabin body and the mechanical arm body through the scattered point scanning method, all the distances among discrete points are calculated according to the actual angle traversal of the joint to realize collision detection, and whether collision identification occurs or not, specific collision points and the distances among the points on the component are output.
The central controller CPU receives a preprogrammed control instruction sent by the operation platform, and then the CPU reads prestored data of corresponding addresses and outputs the prestored data to each joint controller according to a control period to control the output track of each joint;
in the preprogrammed movement mode, the desired angle and angular velocity of the joint is issued once in a control period.
The single joint position mode includes:
After a single joint is selected, planning the position of the single joint, outputting a joint planning angle and angular speed instruction to a basic calculation module, and issuing the joint planning angle and angular speed instruction to a joint controller after verification of no collision until the joint controller runs in place;
The position planning of the single joint adopts trapezoidal joint speed planning of accelerating, then uniform speed and then decelerating to obtain the expected joint angular speed, and the joint angle command sequence is calculated according to a displacement curve method of continuously changing the construction speed in a basic algorithm module until the operation is in place, and the planning is finished.
The multi-joint linkage movement mode comprises the following steps:
After the target angle of each joint is selected, the position planning of the joint space is carried out, the angular velocity and angle command sequence is output to a basic calculation module, the angular velocity and angle command sequence is issued to a joint controller after no collision is verified until the joint controller runs in place, each joint simultaneously plans to move, the rotation angle required by each joint is calculated firstly, the maximum joint rotation deviation is obtained, the movement time is calculated by utilizing the maximum joint angle deviation and the maximum set velocity, the maximum movement velocity of the rest joints is recalculated according to the movement time, and the movement synchronization of each joint is ensured.
The terminal linear motion mode includes:
The terminal linear velocity planning is to calculate the terminal position and velocity at each moment according to the linear distance, the maximum velocity and the acceleration time between the initial terminal pose of the mechanical arm and the target terminal pose;
And (3) angular velocity planning, namely calculating the expected gesture and angular velocity at each moment according to the deviation of the initial gesture and the termination gesture, the maximum angular velocity and the acceleration time.
The tip handle movement pattern includes:
According to the task requirement, the terminal moving speed in the expected direction under the current coordinate system is given through the handle, the terminal moving speed under the space station base coordinate system is obtained through the change of the coordinate system, the angular speed of each joint is obtained through inverse kinematics calculation, and the movement is finished until the input speed instruction of the handle is zero.
The visual servo motion pattern comprises:
The pose information of the target is provided for a planning algorithm module through the pose information of the target measured by a wrist camera of the mechanical arm in real time, and the mechanical arm is enabled to autonomously move to a target point through a visual servo algorithm, so that tracking of a space moving target object is realized;
the visual servoing algorithm comprises:
(a) Calculating pose coordinate difference D oe of the target point coordinate system W relative to the terminal coordinate system T under the terminal coordinate system T and calculating distance D v between the terminal and the target point;
(b) Calculating the displacement S end＝vel*dt*Doe/dv of the next step, wherein vel is the set movement speed of the tail end of the mechanical arm, dt is a movement control period, and d v is the distance between the tail end and the target point;
(c) According to the end displacement S end, calculating two groups of joint angle values theta now and theta next corresponding to the beginning and the end by using a kinematic inverse solution, wherein theta now is a current joint angle value, and theta next is a joint angle value at the beginning of the next period;
(d) Judging whether the distance d v between the tail end and the target point is in a given error range or not, and whether the difference delta Eul between the tail end Euler angle and the target object attitude is in the given error range or not, if so, ending tracking, otherwise, returning to the step (a) to continue tracking until the condition is met.
The space station mechanical arm multi-mode path planning method of the space station mechanical arm multi-mode path planning system adapting to the complex task comprises the following steps:
The control instruction input by the operation desk is received, and the instruction format and the data information are analyzed, wherein the data information comprises a preprogrammed instruction sequence number, a target point expected pose, a joint expected angle, joint speed/acceleration setting, terminal speed/acceleration setting and a visual servo target point pose;
Selecting a corresponding movement mode according to the analyzed data information, and outputting expected joint angle and expected angular speed sequence data, wherein the movement mode comprises a preprogrammed movement mode, a single joint position movement mode, a multi-joint linkage movement mode, a tail end linear movement mode, a tail end handle movement mode and a visual servo movement mode;
and outputting the sequence data of the expected joint angle and the expected angular velocity without collision to a joint controller to control the joint motion.
Examples:
The invention aims to realize a multi-mode path planning method of a space station mechanical arm which is adaptive to multitasking. The mechanical arm movement path planning hardware carrier is a central controller, the central controller is realized by a CPU and an FPGA, the CPU realizes functions of instruction processing, mode switching, information management and the like, the FPGA mainly realizes path planning algorithm calculation, the main modules of the space station mechanical arm multi-mode path planning system adapting to complex tasks are shown as a figure 1, the mechanical arm movement path planning hardware carrier comprises an instruction processing module, a planning algorithm module and a basic calculation module, wherein the instruction processing module receives a control instruction input by an operation table, analyzes instruction formats and data information, the data information comprises a preprogrammed instruction sequence number, a target point expected position, a joint expected angle, joint speed/acceleration setting, an end speed/acceleration setting and a visual servo target point position, the analyzed data information is output to the planning algorithm module to serve as calculation input, the planning algorithm module realizes the basic calculation functions of preprogramming, single joint position, multi-joint linkage, end straight line, end handle, visual servo and the like, the basic calculation module outputs expected joint angle and expected angle speed sequence data to the basic calculation module, the basic calculation module realizes basic calculation functions of forward kinematics calculation, speed continuous change displacement curve construction, collision detection calculation and the like, and finally outputs joint detection free angle sequence data to the expected joint speed controller.
(1) Basic calculation module
The basic calculation module mainly comprises functions of mechanical arm positive kinematics calculation, mechanical arm negative kinematics calculation, collision detection calculation, construction of a speed continuous change displacement curve and the like, and conversion between terminal pose/speed and joint angle/speed is achieved. Specific conversion methods among gesture expression methods such as gesture rotation matrix, euler angle, gesture quaternion and the like are shown in teaching materials such as robot dynamics and control.
1) Positive kinematic computation
The positive kinematic calculation of the mechanical arm is the mapping from the joint space of the mechanical arm to the operation space of the tail end, and when the DH parameters and the joint angles of the mechanical arm in space are known, the pose of the tail end of the mechanical arm can be calculated. Definition as shown in fig. 2, a 7-degree-of-freedom serial robot arm coordinate system is defined, including a root mount coordinate system F 0, and each joint coordinate system F 1～F7.
The position and pose descriptors between the robotic arm coordinate systems are defined as follows, where i=0, 1,2,.. 7,j =0, 1,2,., 7:
C i,j denotes a rotation matrix of the coordinate system F j with respect to the coordinate system F i;
Representing the position vector of the coordinate system F j relative to the coordinate system F i with reference to the coordinate system F 0,
The end position p 0,7 and the attitude rotation matrix C 0,7 of the seven-degree-of-freedom mechanical arm at a given joint angle can be obtained.
p0,7＝p0,1+C0,1p1,2+C0,1C1,2p2,3+C0,1C1,2C2,3p3,4+...C0,1C1,2C2,3C3,4p4,5+C0,1C1,2C2,3C3 ,4C4,5p5,6+...C0,1C1,2C2,3C3,4C4,5C5,6p6,7
C0,7＝C0,1C1,2C2,3C3,4C4,5C5,6C6,7。
2) Inverse kinematics calculation
The kinematic inverse solution of the mechanical arm is to map the velocity of the tail end of the mechanical arm in the working space into the corresponding joint angular velocity, and when the DH parameter and the tail end velocity v omega e of the mechanical arm in the working space are known, the joint velocity of the mechanical arm can be obtained through calculation
In the fixed base control mode, the tail end speed v omega e＝[ve,ωe]T of the mechanical arm and the angular speed of the joint of the mechanical armThe following relationship exists:
Wherein J is the Jacobian matrix of the mechanical arm. v e,ωe is the tip linear velocity and tip angular velocity, respectively.
Under the mode of the fixed base, the kinematic inverse solution of the speed level of the mechanical arm can be obtained:
Wherein J + is the generalized inverse of the jacobian matrix.
J+＝JT·(J·JT)-1。
3) Constructing a displacement curve with continuously varying velocity
The current time is defined as t, and the current displacement f d of the mechanical arm is defined.
The length of the straight line distance from the beginning point P 0 coordinate P 0,ξ to the ending point P f coordinate P f,ξ is calculated as follows:
The running path is planned according to a trapezoid method (speed is continuous), the starting point and the end point are set to be 0 and t f, the acceleration time is t s, the transition point of the curve of the acceleration section and the deceleration section is t s、tf-ts, the maximum speed is v m, and the displacement corresponding to the end point is d f.
Because the curves have symmetry, the acceleration and deceleration times are the same. The running track is shown in fig. 3.
df=dist,
The setting of t a＝tf-ts is carried out,
vm＝df/ta,
And (5) obtaining other variables and curve functions according to the known variables. The functional expression of each segment of the displacement curve of FIG. 4 is
4) Collision detection calculation
The space station mechanical arm collision detection strategy is shown in fig. 5, the mechanical arm collision detection algorithm comprises a ground algorithm and an on-orbit algorithm, dynamic collision detection of a simplified geometric model is adopted on the orbit, the space station cabin body and the mechanical arm body are simplified into a plurality of cylinder geometric models with outer envelopes, collision detection is realized by calculating the distances between the bodies according to joint actual angles in a traversing manner, whether collision identification and the distances between collision components and the components can be output, the ground adopts a scattered point scanning static space interference method, an accurate outer envelope model is established by the space station cabin body and the mechanical arm body through a scattered point scanning method, collision detection is realized by calculating all discrete point distances according to joint actual angles in a traversing manner, and whether collision identification and the specific collision point and the distances between the points on the components can be accurately output. The on-orbit algorithm has relatively conservative calculation results and small calculation amount, mainly aims at on-orbit monitoring, prevents the risk of collision caused by abnormal movement of the mechanical arm, has accurate calculation results of the ground algorithm, is large in calculation amount, is mainly used for verifying a ground planning path, and can predict the minimum distance of the movement process of the mechanical arm. Meanwhile, collision detection can be indirectly realized through a camera monitoring image on the space station and the measured value of a mechanical arm joint and a terminal moment sensor in the actual movement process of the mechanical arm.
(2) Planning algorithm module
The planning algorithm module comprises a pre-programming motion mode, a single joint position motion mode, a multi-joint linkage motion mode, a tail end linear motion mode, a tail end handle motion mode and a visual servo motion mode, receives data parameters output by the instruction processing module, calls a corresponding sub-mode program according to the selection mode, and outputs a planned joint expected angle and angular speed.
1) Pre-programmed motion pattern
The preprogrammed movement mode does not need to be planned on a rail, the central controller CPU prestores all the information of the expected angles and the expected angular speeds of the joints, and after the central controller CPU receives the preprogrammed control instruction sent by the operation platform, the CPU reads the prestored data of the corresponding address, outputs the prestored data to each joint controller according to the control period and controls the output track of each joint.
In the preprogrammed movement mode, it is necessary to issue a pre-stored desired angle and angular velocity of the joint in one control cycle.
2) Single joint position motion pattern
The single joint position mode is that after a single joint is selected, the central controller FPGA performs single joint position planning, and the joint planning angle and angular velocity instructions are firstly output to the basic calculation module, and then issued to the joint controller after no collision is verified until the joint controller runs in place. To facilitate compliance with actual joint motion characteristics, a trapezoidal joint velocity plan with first acceleration, then constant velocity and then deceleration as shown in fig. 3 is used.
Defining a current time t, a control period t 0, an initial joint angle theta int, a planned current joint angle theta now, a target joint angle theta des, a desired angular velocity omega d, a desired angular acceleration a, and a joint angular velocity command sequence omega i. Then
Joint rotation distance:
dist=|θdes-θint|
Acceleration time:
ts＝ωd/a
Total time of single joint planning:
tf＝dist/ωd+ts
joint rotation deviation:
θd＝θdes-θint
And then, calling a 'displacement curve with continuously changing construction speed' module to obtain a joint angle command sequence.
3) Multi-joint linkage movement mode
The multi-joint linkage planning is to select a target joint angle, then to carry out joint space position planning by a central controller FPGA, and to output an angular velocity command sequence to a basic calculation module, and to issue the angular velocity command sequence to a joint controller after verification of no collision until the joint controller runs in place. The movement mode is different from the single joint position movement mode in that 7 joints are simultaneously planned to move, the planning principle of each joint in the multi-joint linkage mode is the same as that of the single joint position planning, in order to ensure the synchronous movement of 7 joints, the rotation angles of 7 joints are calculated firstly to obtain the rotation deviation of the largest joint, the movement time is calculated by using the maximum joint angle deviation, and the maximum movement speed of other 6 joints is recalculated according to the movement time, so that the movement synchronization of 7 joints can be ensured.
4) Terminal rectilinear motion mode
The space manipulator linear planning is to enable the manipulator to move from an initial end pose to a specified end pose along a straight line. Assuming that the initial end pose pe0= [ P e0,ψe0 ] and the end pose pef= [ P ef,ψef ] of the mechanical arm, the end trajectory of the mechanical arm end linear planning is shown in fig. 6.
End linear velocity planning:
first, the end-to-end linear distance length d f is calculated from the initial point and the end point coordinates.
Assuming that the running path is planned according to the parabolic transition arc trapezoid method, the starting point and the ending point are set to be 0 and t z, the acceleration is a, then let t s＝tz/(1+df/a), the transition point time of the accelerating section and the decelerating section curves is t a/3、2ta/3、tz-2ta/3 and t z-ta/3, the speed at the transition point time t a/3 (or t z-ta/3)、2ta/3 (or t z-2ta/3) is v 1 and v 2, the maximum speed is v m, the length of the straight line distance from the head end to the tail end is d f,ta, and the running path is shown in fig. 7.
D f is a known quantity for a typical plan. Other variables and curve functions may be found assuming that any 2 variables in t z、ta and v m are known. Let t z and t a be known for ease of calculation, t s＝tz-2ta because of the symmetry of the velocity profile. According to the definition, the functions of the curves 1-6 are ：f1(t)＝a1t2+b1t,f2(t)＝a2t+b2,f3(t)＝a3t2+b3t+c3,f4(t)＝a4t2+b4t+c4,f5(t)＝a5t+b5,f6(t)＝a6t2+b6t+c6. respectively to ensure the continuity of the speed and the acceleration, and the slope of the curves, namely the acceleration value, is equal except the speed value at the transition point of each curve. At the same time, at times 0, t a、ta+ts and t z, the slope, i.e. acceleration, is zero. Under the above conditions, the acceleration section curves 1-3 are calculated first, and the equation set can be written. And solving the curve function coefficients of the acceleration sections 1-3, the transition point speed v 1、v2 and the maximum speed v m and the curve coefficients of each section according to the following equation set. a 1～a6,b1～b6 are coefficients.
Angular velocity planning:
Firstly, the attitude pointing deviation at the head end and the tail end is obtained and converted into the axial angle relation representation of quaternion. Then, the trapezoid rule with parabolic transition circular arcs is adopted to mark the angular displacement of each axial direction of the tail end of the mechanical arm, and further the tail end programming angular speed in each control period can be obtained.
The linear speed and the angular speed of the planned operation of the tail end of the mechanical arm can be obtained.
5) Tip handle movement pattern
And the astronaut gives the terminal moving speed of the expected direction under the current coordinate system through the handle according to the task requirement. And obtaining the movement speed of the tail end under the space station base coordinate system through the change of the coordinate system, and then obtaining the movement angular speed of each joint by using inverse kinematics calculation until the input speed instruction of the handle is zero, and ending the movement.
Assuming that the terminal linear velocity is v e and the terminal angular velocity is omega e, the joint angular velocity can be obtained through calculation of kinematic inverse solution:
Wherein J + is the generalized inverse of the jacobian matrix.
6) Visual servo motion pattern
The visual servo mode is planning control for the mechanical arm to automatically reach the target point from the starting point under the guidance of visual pose measurement. The planning mode is mainly used for capturing a moving target in a space environment, pose information of the target is given in real time through a camera, the information is provided for a central controller, and a central controller FPGA enables a mechanical arm to autonomously move to a target point by calling a visual servo algorithm, so that tracking and capturing of a space moving target object are realized. The visual servoing algorithm principle is shown in fig. 8.
Let the base coordinate system be I (IO-IXIyI Z), the arm end coordinate system be T (TO-TXTYT Z), the target point coordinate system be W (WO-WXWYW Z).
(A) The pose coordinate difference D oe of the target point coordinate system W in the terminal coordinate system T with respect to the terminal coordinate system T is calculated and the distance D v between the terminal and the target point is calculated.
(B) The next displacement S end＝vel*dt*Doe/dv is calculated, wherein vel is the set movement speed of the tail end of the mechanical arm, dt is the movement control period, and d v is the distance between the tail end and the target point.
(C) According to the end displacement S end, two groups of joint angle values theta now,θnext corresponding to the beginning end are calculated by kinematic inverse solution, wherein theta now is the current joint angle value, and theta next is the joint angle value at the beginning of the next period.
(D) Judging whether the distance d v between the tail end and the target point is in a given error range or not, and whether the difference delta Eul between the tail end Euler angle and the target object attitude is in the given error range or not, if so, ending tracking, otherwise, returning to the step (a) to continue tracking until the condition is met.
The invention, in part not described in detail, is within the skill of those skilled in the art.
Claims (9)
1. A space station mechanical arm multi-mode path planning system adapting to complex tasks is characterized by comprising an instruction processing module, a planning algorithm module and a basic calculation module;
the instruction processing module is used for receiving a control instruction input by the operation console, analyzing the instruction format and the data information, and outputting the analyzed data information to the planning algorithm module to be used as calculation input, wherein the data information comprises a preprogrammed instruction sequence number, a target point expected pose, a joint expected angle, joint speed/acceleration setting, terminal speed/acceleration setting and a visual servo target point pose;
The planning algorithm module is used for realizing the calculation of a plurality of motion mode planning algorithms, receiving data parameters output by the instruction processing module, selecting a corresponding motion mode, and outputting expected joint angle and expected angular speed sequence data to the basic calculation module, wherein the motion mode comprises a preprogrammed motion mode, a single joint position motion mode, a multi-joint linkage motion mode, a tail end linear motion mode, a tail end handle motion mode and a visual servo motion mode;
the basic calculation module is used for realizing a basic calculation function, realizing the conversion between the tail end pose/speed and the joint angle/speed, and outputting the sequence data of the expected joint angle and the expected angular speed without collision detection to the joint controller, wherein the basic calculation comprises forward kinematics calculation, inverse kinematics calculation, construction of a speed continuous change displacement curve and collision detection calculation;
the single joint position movement pattern includes:
After a single joint is selected, planning the position of the single joint, outputting a joint planning angle and angular speed instruction to a basic calculation module, and issuing the joint planning angle and angular speed instruction to a joint controller after verification of no collision until the joint controller runs in place;
The position planning of the single joint adopts trapezoidal joint speed planning of accelerating, then uniform speed and then decelerating to obtain the expected joint angular speed; calculating to obtain a joint angle command sequence according to a displacement curve method with continuously changing construction speed in a basic algorithm module until the joint angle command sequence runs in place, and finishing planning;
the multi-joint linkage movement mode comprises the following steps:
After the target angle of each joint is selected, the position planning of the joint space is carried out, and the angular velocity and angle command sequence is output to a basic calculation module, and the angular velocity and angle command sequence is issued to a joint controller after the non-collision is verified until the joint controller runs in place;
the visual servo motion pattern comprises:
The pose information of the target is provided for a planning algorithm module through the pose information of the target measured by a wrist camera of the mechanical arm in real time, and the mechanical arm is enabled to autonomously move to a target point through a visual servo algorithm, so that tracking of a space moving target object is realized;
the visual servoing algorithm comprises:
(a) Calculating pose coordinate difference D oe of the target point coordinate system W relative to the terminal coordinate system T under the terminal coordinate system T and calculating distance D v between the terminal and the target point;
(b) Calculating the displacement S end＝vel*dt*Doe/dv of the next step, wherein vel is the set movement speed of the tail end of the mechanical arm, dt is a movement control period, and d v is the distance between the tail end and the target point;
(c) According to the end displacement S end, calculating two groups of joint angle values theta now and theta next corresponding to the beginning and the end by using a kinematic inverse solution, wherein theta now is a current joint angle value, and theta next is a joint angle value at the beginning of the next period;
(d) Judging whether the distance d v between the tail end and the target point is in a given error range or not, and whether the difference delta Eul between the tail end Euler angle and the target object attitude is in the given error range or not, if so, ending tracking, otherwise, returning to the step (a) to continue tracking until the condition is met.
2. The multi-mode path planning system for the space station manipulator adapted to the complex task according to claim 1, wherein the positive kinematics calculation is performed to calculate the pose of the manipulator end according to the DH parameters and the joint angles of the space manipulator.
3. The multi-mode path planning system for the space station manipulator adapted to the complex task according to claim 1, wherein the inverse kinematics calculation is performed to calculate the joint speeds of the manipulator according to the DH parameters and the terminal speeds of the space manipulator.
4. The space station manipulator multi-mode path planning system of claim 1, wherein the constructing a displacement curve with continuously varying speed comprises:
And dividing the running path of the mechanical arm according to trapezoid rules, and obtaining a function expression of each section of a displacement curve with continuously-changing speed and taking time as an independent variable according to the starting point moment, the ending point moment, the acceleration time, the maximum speed and the displacement corresponding to the ending point.
5. The space station manipulator multi-mode path planning system adapting to complex tasks according to claim 1, wherein the collision detection calculation comprises a ground algorithm and an on-orbit algorithm;
The on-orbit algorithm is that a simplified geometric model is adopted for dynamic collision detection, a space station cabin body and a mechanical arm body are simplified into a plurality of cylindrical geometric models with outer envelopes, the collision detection is realized by calculating the distances between the bodies according to the joint actual angle traversal, and whether collision marks, collision parts and the distances between the parts occur or not is output;
The ground algorithm is that a scattered point scanning static space interference method is adopted, an outer envelope model is established for the space station cabin body and the mechanical arm body through the scattered point scanning method, all the distances among discrete points are calculated according to the actual angle traversal of the joint to realize collision detection, and whether collision identification occurs or not, specific collision points and the distances among the points on the component are output.
6. The space station mechanical arm multi-mode path planning system adapting to complex tasks according to claim 1 is characterized in that the pre-programmed movement mode is characterized in that information of expected angles and expected angular speeds of all joints is pre-stored in a central controller CPU, after the central controller CPU receives a pre-programmed control instruction sent by an operation platform, the CPU reads pre-stored data of corresponding addresses, outputs the pre-stored data to each joint controller according to a control period, and controls output tracks of each joint;
in the preprogrammed movement mode, the desired angle and angular velocity of the joint is issued once in a control period.
7. A space station manipulator multi-mode path planning system adapted to complex tasks as claimed in claim 1, wherein said end rectilinear motion mode comprises:
The terminal linear velocity planning is to calculate the terminal position and velocity at each moment according to the linear distance length between the initial terminal pose of the mechanical arm and the target terminal pose, the maximum velocity and the acceleration time;
And (3) angular velocity planning, namely calculating the expected gesture and angular velocity at each moment according to the deviation of the initial gesture and the termination gesture, the maximum angular velocity and the acceleration time.
8. A space station manipulator multi-mode path planning system for accommodating complex tasks as claimed in claim 1, wherein said end-handle movement modes comprise:
According to the task requirement, the terminal moving speed in the expected direction under the current coordinate system is given through the handle, the terminal moving speed under the space station base coordinate system is obtained through coordinate system transformation, the angular speed of each joint is obtained through inverse kinematics calculation, and the movement is finished until the input speed instruction of the handle is zero.
9. A space station manipulator multi-mode path planning method using the space station manipulator multi-mode path planning system adapting to complex tasks according to any one of claims 1-8, comprising:
The control instruction input by the operation desk is received, and the instruction format and the data information are analyzed, wherein the data information comprises a preprogrammed instruction sequence number, a target point expected pose, a joint expected angle, joint speed/acceleration setting, terminal speed/acceleration setting and a visual servo target point pose;
Selecting a corresponding movement mode according to the analyzed data information, and outputting expected joint angle and expected angular speed sequence data, wherein the movement mode comprises a preprogrammed movement mode, a single joint position movement mode, a multi-joint linkage movement mode, a tail end linear movement mode, a tail end handle movement mode and a visual servo movement mode;
and outputting the sequence data of the expected joint angle and the expected angular velocity without collision to a joint controller to control the joint motion.
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