Abstract
Aiming at a space manipulator with a joint-locked failure, a halt optimization strategy is proposed in this paper. Firstly, a halt configuration optimization model (HCOM) is constructed, to select an optimal configuration where the kinematic ability of the manipulator is the best. Secondly, considering the constraint of joint running parameters and the disturbance torque of the base, we construct and solve the halt motion optimization model (HMOM), which can achieve a steady halt and ensure the safety of the manipulator. The correctness and effectiveness of the proposed strategy in this paper are verified with a 7-DOF space manipulator. This strategy firstly puts forward the idea of halt configuration optimization and realizes the minimum global disturbance torque of the base in the halt process.
Highlights
As a high-end space equipment with large span, high flexibility, and strong operation capability, space manipulators have been widely used in the field of space exploration [1,2,3,4,5]
(3) The disturbance torque of the base is optimized in the halt process, and its global disturbance torque is reduced by 30% at least after the optimization
According to Equation (27), the joint running parameters Var = 1⁄2qt, q_t, €qt, τt ⋯ can be obtained at every moment in the halt process, which is the function with k as the variable, so it can be written as Var = VarðkÞ
Summary
As a high-end space equipment with large span, high flexibility, and strong operation capability, space manipulators have been widely used in the field of space exploration [1,2,3,4,5]. If the attitude deflection of the base is too large, the spacecraft’s communication quality and energy acquisition efficiency will be reduced, and even the manipulator will be out of control, seriously threatening the safety of the space manipulator [29] For this reason, to solve the problem of the halt optimization of the manipulator with a joint-locked failure, the disturbance torque of base should be limited within a small range. Aiming at the space manipulator with a joint-locked failure, the innovation of this paper mainly is shown as follows (1) The halt configuration is optimized, ensuring that the manipulator in the halt configuration owns the best kinematic ability, and the kinematic ability in the optimal halt configure is 236:8% higher than that in the suboptimal halt configuration (2) Each unilateral kinematic ability index is analyzed quantitatively, making the comprehensive representation of the kinematic ability more accurate, which can guarantee the execution of subsequent task (3) The disturbance torque of the base is optimized in the halt process, and its global disturbance torque is reduced by 30% at least after the optimization.
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