Abstract
In order to achieve the high-precision motion trajectory in ground experiment of space instable target (SIT) while reducing the energy consumption of the motion simulator, a robot motion planning method based on energy saving is proposed. Observable-based ground robot motion experiment system for SIT is designed and motion planning process is illustrated. Discrete optimization mathematical model of energy consumption of motion simulator is established. The general motion form of the robot joints in ground test is given. The optimal joint path of motion simulator based on energy consumption under discontinuous singularity configuration is solved by constructing the complete energy consumption directed path and Dijkstra algorithm. An improved method by adding the global optimization algorithm is used to decouple the coupled robot joints to obtain the minimum energy consumption path under the continuous singularity configuration of the motion simulator. Simulations are carried out to verify the proposed solution. The simulation data show that total energy saving of motion simulator joints adopting the proposed method under the condition of non-singularity configuration, joints coupled motion with continuous singularity configuration, and coexistence of non-singularity path and continuous singularity path are, respectively, 72.67%, 28.24%, and 62.23%, which proves that the proposed method can meet the requirements of ground motion simulation for SIT and effectively save energy.
Highlights
As unstable targets in space continue to increase and become more threatening, maneuvering tasks, such as on-orbit removal, have become more and more urgent [1,2,3,4]
To verify the effectiveness of the proposed method, optimization solutions based on energy saving of SITMSR using KuKa KR60 programmed by Matlab introduced in previous sections are tested under different movements given in the space instable target (SIT) ground motion experiment
A motion planning method of SITMSR based on energy saving and its corresponding joint trajectory solving algorithm are proposed
Summary
As unstable targets in space continue to increase and become more threatening, maneuvering tasks, such as on-orbit removal, have become more and more urgent [1,2,3,4]. In order to verify the feasibility of the space control method and optimize the control algorithm, it is necessary to conduct ground manipulation simulation experiments of SIT [6,7]. The primary task of the ground simulation test is to accurately simulate the relative spatial movement and relative attitude motion between SIT and space operation aircraft. It is an effective method to achieve the given motion of SIT in ground test platform through using six-DOF industrial robot [8,9]. During simulating given space movement in the ground test, it is necessary to optimize the robot path on the premise that the simulation accuracy meets the requirements, and at the same time ensure the dynamic characteristics of the simulator. With the increasingly tense global energy situation, the optimization and control of robot energy consumption has gradually become an important goal in industrial systems [10]
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