CN108638067A - A kind of serious prevention of degeneracy strategy of space manipulator movenent performance - Google Patents
A kind of serious prevention of degeneracy strategy of space manipulator movenent performance Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
An embodiment of the present invention provides a kind of serious prevention of degeneracy strategies of space manipulator movenent performance, including：The one-sided movenent performance index of space manipulator influenced by failure joint lock angle degree is analyzed, therefrom selectes multiple indexs to characterize space manipulator integrated motion performance；By carrying out globalization processing to selected local indexes, on the basis of constructing its corresponding global fluctuation index, space manipulator integrated motion performance indicator is constructed using Information Entropy；Using one-sided movenent performance or integrated motion performance indicator as foundation, artificially limited based on each joint of Newton-Laphson method solution room mechanical arm；By artificially limiting the slewing area in each joint of normality down space mechanical arm, the prevention that space manipulator movenent performance is seriously degenerated is realized.The technical solution provided according to embodiments of the present invention, the movenent performance of space manipulator remains to meet in-orbit operation task requirement after joint locking failure can be made to occur.
Description
【Technical field】
The present invention relates to a kind of serious prevention of degeneracy strategies of space manipulator movenent performance, belong to the fault-tolerant control of space manipulator
Technical field processed.
【Technical background】
Military affairs, politics, the people's livelihood, economic dispatch various aspects strategic position, promote countries in the world more to pay attention to possessed by space
Space probation works.As the mankind deepen continuously to space probation, there are the spies such as span is big, operation is flexible, load capacity is strong
The space manipulator of point is using increasingly extensive.But severe, operation task the heavy complexity with joint structure of space environment, leads
Joint locking failure very likely occurs during long service for uniform space mechanical arm, and can not usually be able to on-call maintenance.
When failure joint is locked to special angle so that space manipulator movenent performance is seriously degenerated, space manipulator will be unable to continue
In-orbit operation task is executed, making smooth advances for space probation work is seriously affected.Therefore, in order to ensure space probation, everything goes well with your work
It completes, there is an urgent need for carry out the correlative study of the serious prevention of degeneracy strategy of space manipulator movenent performance.
The prevention that space manipulator movenent performance towards joint locking failure is seriously degenerated, mainly by artificially limiting often
Each articulation range of state down space mechanical arm (artificial limit) is realized.It is existing to calculate the method only parsing that joint artificially limits
Method, based on analytic method can not solve coupled problem present in solution procedure (when complete solve criterion with artificially limit it is related,
Or the limit of remaining healthy joint does not discharge after knuckle failure, then there is coupled problem), leading to required joint, artificially limit is not
Ideal artificial limit；In addition, the existing criterion for completing to solve is mostly one-sided movenent performance index, space mechanism can not be characterized
Arm integrated motion performance, space manipulator integrated motion performance may cannot be satisfied in-orbit operation times after leading to joint locking failure
Business requires.
【Invention content】
In view of this, an embodiment of the present invention provides a kind of serious prevention of degeneracy strategy of space manipulator movenent performance, institute
Putting forward preventative strategies can ensure that the one-sided movenent performance of space manipulator or integrated motion performance remain to after joint locking failure
Meet in-orbit operation task requirement.
During the above-mentioned serious prevention of degeneracy of space manipulator movenent performance, the method used includes at least：
According to the mathematical expression and symbolical meanings of space manipulator operating space and each movenent performance index of joint space, divide
The one-sided movenent performance index wherein influenced by failure joint lock angle degree is analysed, with comprehensive characterization space manipulator operating space
For the purpose of joint space movenent performance, multiple one-sided fortune are selected from the performance indicator influenced by failure joint lock angle degree
Dynamic performance indicator；
According to movenent performance index globalization processing method, the local indexes in selected one-sided movenent performance index are turned
General indices are turned to, and construct the global fluctuation index corresponding to it, it is contemplated that different indexs are to mechanical arm integrated motion performance
Influence degree is different, constructs space manipulator integrated motion performance indicator based on Information Entropy, is operated to space manipulator with realizing
The comprehensive characterization in space and joint space movenent performance；
According to the criterion (one-sided movenent performance index or integrated motion performance indicator) for completing to solve, it is based on newton-drawing
It (is only index constant and knuckle failure when completing solution criterion that Fu Xunfa, which solves each joint of normality down space mechanical arm and artificially limits,
Afterwards when remaining joint limit release, the solution that each joint of normality down space mechanical arm artificially limits can be completed based on analytic method)；
It is artificially limited according to each joint of required space manipulator, under the premise of mechanical arm has redundancy properties, passes through people
Be limited each articulation range of steady state down space mechanical arm, even the movement in artificial limit of each joint, completes space mechanism
The prevention that arm movenent performance is seriously degenerated ensures that space manipulator movenent performance remains to meet follow-up in-orbit after joint locking failure
Operation task requirement.
In above-mentioned solution procedure, the selected process of the one-sided movenent performance index of space manipulator includes：
The first step：Determine each fortune influenced by failure joint lock angle degree in space manipulator operating space and joint space
The mathematical expression of dynamic performance indicator.
The movenent performance index of space manipulator operating space mainly have position reachable tree, part orientation reachable tree,
Comprehensive reachable tree；The movenent performance index of joint space mainly has minimum singular value, conditional number, motor dexterity, can grasp
Degree of work.Singular value decomposition is carried out to space manipulator Jacobian matrix J (q), is shown below：
J (q)=U Σ V
In above formula, U indicates that dimension of m m orthogonal matrix, V indicate that n × n orthogonal dimension matrixes, Σ indicate that diagonal line is nonnegative real number
M × n tie up diagonal matrix, and Σ have following form：
In above formula, σ1,σ2,...,σmFor the singular value of Jacobian matrix J (q), and there is σ1≥σ2≥...≥σm≥0。
When mechanical arm is in nonsingular position shape, Rank (Σ)=Rank (J (q))=m；When mechanical arm is in Singularity
When, Rank (Σ)=Rank (J (q))=r ＜ m, at this point, diagonal matrix Σ has following form：
In above formula, σ1Indicate the maximum singular value of J (q), σrIndicate the non-zero minimum singular value of J (q).
By above-mentioned derivation it is found that being based on each joint angles q of space manipulator1,q2,...,qnJacobian matrix J can be acquired
(q) singular value σ1,σ2,...,σm(σr), therefore, with the relevant movenent performance index of Jacobian matrix J (q) singular values, equally
It is influenced by the locking angle in space manipulator failure joint.Such as the mathematical expression such as following formula institute of the motor dexterity D of joint space
Show：
D=1/ (min k (J (q)))
The position reachable tree W of operating spacePMathematical expression be shown below：
In above formula,Denotation coordination system ΣiRelative to Σi- 1 pose transition matrix.
Definition based on required Jacobian matrix singular value and each index of space manipulator, can be obtained the position of operating space
Reachable tree, part orientation reachable tree, comprehensive reachable tree and the minimum singular value of joint space, conditional number, movement spirit
The indexs correlation analyses such as skilful property, operable degree, as shown in Table 1 and Table 2.
The operating space movenent performance index that table 1 is influenced by failure joint lock angle degree
The joint space movenent performance index that table 2 is influenced by failure joint lock angle degree
Second step：For the purpose of comprehensive characterization space manipulator operating space and joint space movenent performance, from by failure
Multiple one-sided movenent performance indexs are selected in the performance indicator that joint locking angle influences.
Based on Tables 1 and 2 it is found that the height of the position accessibility and posture accessibility of mechanical arm tail end, directly affects machine
Tool arm can complete the quantity of task and the speed of mission planning, and then the efficiency that task can be completed to mechanical arm has an impact；Separately
Outside, the height of the unusual degree of position shape and degree of isotropy in mechanical arm operational process, directly affects mechanical arm operational safety
Degree and smooth trajectory degree, and then the quality that task can be completed to mechanical arm has an impact；In order to improve space mechanism simultaneously
Arm completes the efficiency and quality of task, need to not maximize after space manipulator knuckle failure the position of end with posture accessibility and not
The unusual degree of position shape and degree of isotropy of mechanical arm under isomorphism type.
By the way that the position accessibility of space manipulator, posture accessibility, the unusual degree of position shape and degree of isotropy is same
The operating space of mechanical arm and joint space carry out corresponding it is found that position accessibility and posture accessibility belong to robotic arm manipulation sky
Between performance, the unusual degree of position shape and degree of isotropy belong to joint of mechanical arm space performance.In operating space and joint space
Different motion performance indicator may repeat characterization the certain characteristics of mechanical arm, such as the part orientation reachable tree W of operating spaceOP
With comprehensive reachable tree WOFIt can repeat the part posture accessibility of characterization mechanical arm tail end, the minimum singular value s of joint space
The locomitivity in the characterization worst direction of motion of mechanical arm can be repeated with motor dexterity D.In order to make constructed integrated motion
Performance indicator repeat characterization characteristic it is as few as possible, to improve integrated motion Performance Evaluation efficiency, it is only necessary to selection operation space and
Componental movement performance indicator in joint space, you can realize to space manipulator operating space and joint space movenent performance
Comprehensive characterization.
By analyzing the characteristic features of different motion performance indicator in Tables 1 and 2 it is found that position reachable tree WPWith full side
Position reachable tree WOFThe characterization to space manipulator terminal position and posture accessibility, minimum singular value s and condition may be implemented
The characterization to mechanical arm position shape unusual degree and degree of isotropy may be implemented in number k.Therefore, choosing space manipulator position can
Up to space WP, comprehensive reachable tree WOF, tetra- movenent performance indexs of minimum singular value s and conditional number k are as the comprehensive fortune of construction
The basis of dynamic performance indicator.
In above-mentioned solution procedure, the construction process of space manipulator integrated motion performance indicator includes：
The first step：Convert the local indexes in selected one-sided movenent performance index to general indices.
Since the integrated motion performance indicator to be constructed is used to assess the global integrated motion performance of space manipulator, therefore need
Convert the local motions performance indicator such as minimum singular value s and conditional number k to global motion performance indicator.Space manipulator is global
Minimum singular value index sGIt is defined as the average value of mechanical arm minimum singular value s in the reachable tree of position, global conditions number index kG
It is defined as the average value of mechanical arm conditional number k in the reachable tree of position, mathematic(al) representation is as follows：
Second step：In view of global minima Singularity Value IndexWith global conditions number indexIt cannot reflect entire position
The fluctuation situation of mechanical arm minimum singular value s and conditional number k in reachable tree, and minimum singular value s and conditional number k fluctuating ranges
Smaller, the safety of mechanical arm execution task and performance accuracy are higher, therefore, need to fluctuate minimum singular value and conditional number fluctuates
Generated influence incorporates integrated motion performance indicator.
Space manipulator minimum singular value fluctuates indexIndex is fluctuated with conditional numberMathematical expression is as follows：
In summary it is found that in order to construct space manipulator integrated motion performance indicator, need to consider one-sided
Movenent performance index has：Position reachable tree WP, comprehensive reachable tree WOF, global minima Singularity Value IndexIt is minimum unusual
Value fluctuation indexGlobal conditions number indexIndex is fluctuated with conditional numberSo far, that is, construction space manipulator is completed
Each sub- index of integrated motion performance indicator determines.
Third walks：Space manipulator integrated motion performance indicator is constructed based on Information Entropy.
Assuming that i-th of joint J of n degree of freedom series redundancy space manipulatorsiIt breaks down, and enables it lock angle and be
qi_j(j=1,2 ..., m), wherein j indicates that failure joint is locked in j-th of angle, and m indicates that failure joint is locked to different angles
The total number of degree.Based on selected operating space and joint space motility energon index, space machine is constructed using Information Entropy
Tool arm integrated motion performance indicator CIj, expression formula is as follows：
In above formula, CIjIndicate that failure joint is locked in qi_jWhen corresponding integrated motion performance, ωCI_hIndicate h-th of son
Weight corresponding to index, Pj_hIndicate that failure joint is locked in qi_jWhen h-th of index account for the proportion of the index.Enable Xj_hIt indicates
Failure joint is locked in qi_jWhen h-th of sub- index corresponding to numerical value, then proportion Pj_hIt is represented by：
According to proportion Pj_h, weights omega can further be obtained based on Information EntropyCI_hMathematical expression：
In above formula, ghIndicate the coefficient of variation of h-th of index, ehIndicate the entropy of h-th of index.So far, that is, sky is completed
Room machine arm integrated motion performance indicator CIjConstruction.
In above-mentioned solution procedure, the solution procedure that each joint of space manipulator artificially limits includes：
The first step：Selected space mechanism shoulder joint artificially limits method for solving.
Artificially whether limit discharges remaining healthy joint after locking failure by analysis of joint, and judges to complete to solve criterion
Indicate whether that artificially limit can carry out people from joint in relation to (solution of such as index ratio need to artificially be limited based on joint) with joint
To limit the selection of method for solving.
If complete solve criterion artificially limited with joint it is unrelated, and after joint locking failure healthy joint artificially limit release
It puts, then selects analytic method that each joint can be completed and artificially limit solution；Once complete solution criterion artificially limits correlation with joint
Or artificially limit does not discharge healthy joint after joint locking failure, then there are coupled characteristics for solution procedure, need to select newton-at this time
The inferior method of pressgang carries out the solution that joint artificially limits.
Second step：Based on Newton-Raphson approach, to space mechanism shoulder joint, artificially limit solves.
For n degree of freedom series redundancy space manipulators, its each joint physics limit is enabled to be Artificially limit is in each jointIt is opened based on Newton-Raphson approach
The solution that each joint of exhibition space manipulator artificially limits, is as follows：
(1) the iterations K=0 for being iterated solution based on Newton-Raphson approach is enabled, c-th of joint J of mechanical arm is takenc
The articulate artificial limit of institute in addition limits for corresponding physics, even
Go to step (2)；
(2) joint J is enabledcLocking angle be qc_j, make qc_jIt is that traversal interval traverses joint J successively with Δ qcRotation model
It enclosesWherein, traversal interval delta q is determined according to practical calculation amount size, (one-sided based on movenent performance
Movenent performance or integrated motion performance CIj) solution formula, solve joint JcIt is locked in corresponding movenent performance value when different angle
Ij(j=1,2 ..., m), go to step (3)；
(3) it is based on required joint JcThe movenent performance value I of space manipulator when being locked in different anglej, screen and meet Ij≥
IdesiredIt is required that joint JcAngular interval, wherein IdesiredIndicate the subsequently in-orbit operation task of knuckle failure space manipulator
It is required that movenent performance metrics-thresholds (i.e. index constant IconOr index ratio Irat), enable the joint J met the requirementscAngular area
Between middle maximum angle sectionFor joint JcArtificial limitGo to step (4)；
(4) step (1) to (3) is repeated, joint J is solvedcThe articulate artificial limit of institute in additionEach joint of space manipulator is completed artificially to limitSingle solve, enable K=K+1, go to step (5)；
(5) if K=1 or 1 ＜ K ＜ Kmax(KmaxFor the iterations upper limit) but adjacent to solve each joint of gained twice artificial
The error of limit bound cannot meet following formula (error-detecting formula)：
In above formula, υ indicate the limits of error, can be required according to the artificial limit accuracy of iteration the amount of calculation and joint into
Row determines.
Step (2) is then repeated to step (4),On the basis of, it solves again
The artificial limit in each joint of space manipulator；If 1 ＜ K ＜ Kmax, and the adjacent each joint of gained that solves twice artificially limits bound
Error meet error-detecting formula, then complete to decouple, output solves each joint of gained and artificially limits at this timeIt completes each joint of space manipulator and artificially limits solution；If K=KmaxWhen institute
Asking each joint, artificially limit is still unsatisfactory for error-detecting formula, then changes threshold value and repeat step (1) to step (5), until
Iterations meet 1 ＜ K ＜ KmaxAnd until required result meets error-detecting formula.
Complete above-mentioned flow, you can realize that space mechanism shoulder joint artificially limits based on Newton-Raphson approachSolution.
Third walks：Uncorrelated, and healthy joint people after joint locking failure is artificially limited with joint if completing to solve criterion
It is discharged for limit, is then based only upon analytic method and (solves the step (1) in the flow that joint artificially limits based on Newton-Raphson approach
To (4)), the solution that each joint of space manipulator artificially limits can be completed by single calculation and may be based on newton-certainly
The inferior method of pressgang completes its solution.
In above-mentioned solution procedure, the prevention process that space manipulator movenent performance is seriously degenerated includes：
The first step：For n degree of freedom series redundancy space manipulators, if its number of degrees of freedom, is more than 6, in order to prevent knuckle lock
Determine space manipulator movenent performance after failure occurs seriously to degenerate, each articulation scope limitation of normality down space mechanical arm is existed
Required artificial limitIt is interior.
Second step：As c-th of joint J of space manipulatorcFailure is simultaneously locked in its slewing area after unspecified angle, if
Space manipulator after number of degrees of freedom, is degenerated still is redundancy mechanical arm, i.e. its number of degrees of freedom, is more than 6, then solution room machine again
The artificial limit in tool arm residue joint, and the first step is repeated, to realize the prevention seriously degenerated to space manipulator movenent performance；
Otherwise, third step is carried out.
Third walks：When space manipulator after number of degrees of freedom, degeneration is non-redundance mechanical arm, it is contemplated that joint locking
After failure occurs again, non redundant manipulator its movenent performance degeneration for redundant mechanical arm is even more serious, or even can
It can cause space manipulator that cannot execute follow-up in-orbit operation task, if at this point, still being closed to the remaining health of non-redundance mechanical arm
Section is artificially limited, and is not only difficult to prevent the serious degeneration that joint locks manipulator motion performance after failure again, or even meeting
Cause the movenent performance of mechanical arm at this time to decline to a great extent and in-orbit operation task requirement cannot be met, therefore, when joint locking sky
When the number of degrees of freedom, of room machine arm is less than 7, will artificially limit (the artificial limit of release) no longer be carried out to its healthy joint.So far,
The prevention seriously degenerated to space manipulator movenent performance is completed.
The technical solution of the embodiment of the present invention has the advantages that：
(1) the present invention is based on selected one-sided movenent performance index, local indexes is handled by globalization and to establish its right
The fluctuation index answered constructs space manipulator integrated motion performance indicator based on Information Entropy, solves space manipulator operation
The problem of space and joint space movenent performance can not characterize simultaneously, space manipulator operation is empty after realizing joint locking failure
Between and joint space movenent performance synthesis it is optimal.
(2) the present invention is based on Newton-Raphson approach solution room joint of mechanical arm artificially to limit, and solves joint and artificially limits
Coupled problem in the presence of the solution procedure of position (is completed to solve criterion to be index constant or index ratio in the case of realizing arbitrarily
Example, healthy joint, which artificially limit, after failure occurs discharges or does not discharge) solution that space mechanism shoulder joint artificially limits, that is, it is carried
There is universality based on the method that Newton-Raphson approach solution room joint of mechanical arm artificially limits.
(3) the present invention is based on joints artificially to limit the serious prevention of degeneracy strategy of constructed space manipulator movenent performance,
It solves the problems, such as that knuckle failure is locked in special angle and space manipulator movenent performance is caused seriously to be degenerated, realizes joint
Space manipulator movenent performance remains to the requirement for meeting follow-up in-orbit operation task after locking failure, and carried movenent performance seriously moves back
Change preventative strategies are applicable to simple joint or multi-joint, and successively there is a situation where locking failures.
【Description of the drawings】
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It is clear that the accompanying drawings in the following description is only some embodiments of the present invention, for the common skill in this field
It, without creative efforts, can also other accompanying drawings can also be obtained according to these attached drawings for art personnel.
Fig. 1 is abstract of description attached drawing；
Fig. 2 is the kinematics model figure of research object in the embodiment of the present invention；
Fig. 3 is that healthy joint artificially limits release after joint locking failure in the embodiment of the present invention, and that completes to solve sentences
According to forWhen joint J1~J7Artificial limit solving result；
Fig. 4 is that healthy joint artificially limits release after joint locking failure in the embodiment of the present invention, and that completes to solve sentences
According to for CIjJoint J when >=0.0061~J7Artificial limit solving result；
Fig. 5 is 4 fault locking of joint space manipulator integrated motion performance number in different angle in the embodiment of the present invention
Analysis chart.
【Specific implementation mode】
1, using seven freedom space manipulator shown in Fig. 2 as research object, corresponding to D-H parameters it is as shown in table 3.
3 seven freedom space manipulator initial configuration of table corresponds to D-H parameters
2, it is artificially limited based on each joint of Newton-Raphson approach solution room mechanical arm
The degeneration working space volume of seven freedom space manipulator is enabled to beWork under normality (when joint artificially limits)
It is as spatial volumeWith index ratioTo complete to solve criterion, practical calculation amount size and pass are considered
Artificial limit accuracy requirement is saved, determines that each joint obtained by adjacent iteration twice artificially limits bound allowable error υ=1 °.
If initially artificially limit limits for corresponding physics in each joint N=200000 space scatterplot is generated based on Monte Carlo method, each joint can be acquired and be locked in difference respectively
When angle (with each articulation range of q=1 ° of Δ traversal) space manipulator degeneration working space volumeAnd then pass through inspection
Whether survey, which meets completion, which solves criterion, can realize that each joint artificially limits first solve.It is iterated and is asked based on first solving result
Solution, until υ values are met the requirements, can obtain solving result as shown in Figure 3.Based on Fig. 3 it is found that after considering joint locking failure
Under the premise of healthy joint artificially limits release, to meetTo complete to solve criterion, 7R space mechanism shoulder joints
J1~J7It is artificial limit be followed successively by [- 180 °~180 °], [- 79 °~79 °], [- 180 °~180 °], [- 99 °~99 °], [-
180 °~180 °], [- 180 °~180 °], [- 180 °~180 °].
If healthy joint artificially limits release after joint locking failure, and with degeneration working space volume
(index constant) is to complete to solve criterion, then each people from joint of space manipulator can be completed by single calculation based on " analytic method "
It is solved for limit, corresponding joint J1~J7Artificial limit solving result be followed successively by [- 180 °~180 °], [- 74 °~74 °], [-
180 °~180 °], [- 87 °~87 °], [- 180 °~180 °], [- 180 °~180 °], [- 180 °~180 °].
If artificially limit does not discharge healthy joint after joint locking failure, withTo complete to solve criterion, base
The solution that each joint of 7R space manipulators artificially limits, corresponding joint can be completed by " iterative calculation " in Newton-Raphson approach
J1~J7Artificial limit solving result be followed successively by [- 180 °~180 °], [- 79 °~79 °], [- 180 °~180 °], [- 100 °~
100 °], [- 180 °~180 °], [- 180 °~180 °], [- 180 °~180 °].
If artificially limit does not discharge healthy joint after joint locking failure, withTo complete to solve criterion, base
The solution that each joint of 7R space manipulators artificially limits, corresponding joint can be completed by " iterative calculation " in Newton-Raphson approach
J1~J7Artificial limit solving result be followed successively by [- 180 °~180 °], [- 73 °~73 °], [- 180 °~180 °], [- 88 °~
88 °], [- 180 °~180 °], [- 180 °~180 °], [- 180 °~180 °].
Based on above-mentioned solving result it is found that for the solution that space mechanism shoulder joint artificially limits, analytic method is only applicable to
Healthy joint artificially limits release and completes to solve criterion as index constant (such as after joint locking failure) feelings
Condition, and Newton-Raphson rule is suitable for all situations.It is possible thereby to prove that institute's exhaust room machine shoulder joint artificially limits solution
The correctness and universality of method.
3, the serious prevention of degeneracy policy validation of space manipulator movenent performance
The a certain in-orbit operation task of 7R space manipulators is enabled to require its integrated motion performance CIj>=0.006, considering joint
Under the premise of healthy joint artificially limits release after locking failure, υ=1 ° is taken, and sets each joint and initially artificially limits as counterpart
Reason limitN=200000 are generated based on Monte Carlo method
Space scatterplot can acquire when each joint is locked in different angle respectively the space machine (with q=3 ° of each articulation range of traversal of Δ)
The integrated motion performance number CI of tool armj, judge whether each integrated motion performance number meets completion and solve criterion, asked based on analytic method
Each joint of solution space mechanical arm artificially limits, as shown in figure 4, corresponding joint J1~J7Artificial limit solving result be followed successively by [-
180 °~180 °], [- 165 °~-15 °], [- 180 °~180 °], [- 171 °~171 °], [- 171 °~171 °], [- 159 °~-
21 °], [- 180 °~180 °].
If joint 2 occurs first for 7R space manipulators locks failure, it is mechanical arm integrated motion to enable joint 2 lock angle
It can value CIjCorresponding -15 ° when minimum, space manipulator integrated motion performance CI at this timej=0.0161 ＞ 0.006, still meets
Follow-up in-orbit operation task requirement；If artificially not limited to each joint, its is comprehensive after space mechanism shoulder joint 2 locks failure
Resultant motion performance may seriously degenerate to CIj=0.0025 ＜ 0.006, at this time space manipulator movenent performance cannot meet subsequently
In-orbit operation task requirement.It is possible thereby to prove the put forward serious prevention of degeneracy plan of joint locking defective space manipulator motion performance
Validity slightly.
4, integrated motion Performance Analysis
By taking joint 4 as an example, its fault locking space manipulator integrated motion performance in different angle is analyzed.Space mechanism
Arm integrated motion performance indicator and its included each sub- index change curve (curve 1- curves 6) as shown in figure 5, can by Fig. 5
Know, sub- index location reachable tree WP(curve 1), comprehensive reachable tree WOF(curve 2), global conditions number index(curve
3), conditional number fluctuates index(curve 4), global minima Singularity Value Index(curve 5) and minimum singular value fluctuate index
The maximum value of (curve 6) is followed successively by：0.0026,0.0017,0.0031,0.0027,0.0022,0.0018；Space manipulator is comprehensive
4 fault locking of corresponding joint is at ± 135 ° when resultant motion performance indicator is maximized 0.0089, at this point, integrated motion performance indicator
Including each sub- index value be followed successively by：0.0009,0.0016,0.0024,0.0007,0.0017,0.0016, each sub- index value
Although non-maximum value, the value of most indexs is very close to maximum value.It is possible thereby to verify, the comprehensive fortune constructed herein
Dynamic performance indicator can be realized to the comprehensive characterization of space manipulator operating space and joint space movenent performance, and integrated motion is worked as
When performance indicator value maximum, space manipulator operating space and joint space movenent performance may be implemented comprehensive optimal.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (5)
1. a kind of serious prevention of degeneracy strategy of space manipulator movenent performance, it is characterised in that this approach includes the following steps：
(1) mathematical expression and symbolical meanings according to space manipulator operating space and each movenent performance index of joint space, point
The one-sided movenent performance index wherein influenced by failure joint lock angle degree is analysed, and selected multiple one-sided from analysis result
Movenent performance index, with comprehensive characterization space manipulator operating space and joint space movenent performance；
(2) according to movenent performance index globalization processing method, the local indexes in selected one-sided movenent performance index are turned
General indices are turned to, and establish its overall situation fluctuation index, and then are referred to based on Information Entropy construction space manipulator integrated motion performance
Mark；
(3) according to the criterion (one-sided movenent performance index or integrated motion performance indicator) for completing to solve, it is based on newton-pressgang
Inferior method solves each joint of normality down space mechanical arm and artificially limits (only after it is index constant and knuckle failure to complete to solve criterion
When the limit release of remaining joint, the solution that each joint of normality down space mechanical arm artificially limits can be completed based on analytic method)；
(4) it is artificially limited according to each joint of required space manipulator, under the premise of mechanical arm has redundancy properties, by artificial
Each articulation range of normality down space mechanical arm is limited, the prevention that space manipulator movenent performance is seriously degenerated is completed.
2. according to the method described in claim 1, it is characterized in that, the choosing of the one-sided movenent performance index of the space manipulator
Determine process to include at least：
(1) mathematical expression based on each movenent performance index analyzes the space manipulator fortune influenced by failure joint lock angle degree
Dynamic performance indicator, such as position reachable tree WP, part orientation reachable tree WOP, comprehensive reachable tree WOFEqual operating spaces movement
The joint spaces movenent performance index such as performance indicator and minimum singular value s, conditional number k, motor dexterity D, operable degree w by
Space manipulator failure joint lock angle degree influences；
(2) for the purpose of comprehensive characterization space manipulator operating space and joint space movenent performance, from above-mentioned by failure joint
It locks and selectes multiple indexs in the movenent performance index that angle influences, to construct space manipulator integrated motion performance；It considers
Position reachable tree WPWith comprehensive reachable tree WOFSpace manipulator terminal position and posture accessibility can be characterized, it is minimum strange
Different value s and conditional number k can characterize the unusual degree of mechanical arm position shape and degree of isotropy, therefore, selected location reachable tree
WP, comprehensive reachable tree WOF, the one-sided movenent performance index of minimum singular value s, conditional number k tetra- is as construction space mechanism
The basis of arm integrated motion performance indicator.
3. according to the method described in claim 1, it is characterized in that, the process of construction space manipulator integrated motion performance indicator
It includes at least：
(1) according to movenent performance index globalization processing method, by the local motion in selected one-sided movenent performance index
Energy index minimum singular value s and conditional number k is converted into global motion performance indicator；Space manipulator global minima singular valueIt is fixed
Justice is the average value of mechanical arm minimum singular value s in the reachable tree of position, global conditions numberIt is defined as in the reachable tree of position
The average value of mechanical arm conditional number k, mathematic(al) representation are as follows：
(2) consider that minimum singular value s and conditional number k fluctuating ranges are smaller, mechanical arm executes safety and the operation essence of task
Degree is higher, therefore, will influence to incorporate integrated motion performance indicator caused by minimum singular value fluctuation and conditional number fluctuation；Space
Mechanical arm minimum singular value fluctuates indexIndex is fluctuated with conditional numberMathematical expression it is as follows：
In summary it is found that position reachable tree W need to be consideredP, comprehensive reachable tree WOF, global minima Singularity Value IndexMinimum singular value fluctuates indexGlobal conditions number indexIndex is fluctuated with conditional numberIt is comprehensive with the empty mechanical arm of construction
Resultant motion performance indicator；
(3) according to selected 6 sub- indexs, based on Information Entropy construction space manipulator integrated motion performance indicator CIjIt is as follows：
In above formula, CIjIndicate that failure joint is locked in qi_jWhen corresponding integrated motion performance (wherein, i indicates joint JiOccur
Failure, j indicate that failure joint is locked in j-th of angle), ωCI_hIndicate the weight corresponding to h-th of sub- index, Pj_hIndicate event
Hinder joint locking in qi_jWhen h-th of index account for the proportion of the index；Enable Xj_hIndicate that failure joint is locked in qi_jWhen h-th son
Numerical value corresponding to index, then proportion Pj_hIt is represented by：
According to proportion Pj_hExpression, weights omega can further be obtained based on Information EntropyCI_hMathematical expression：
In above formula, ghIndicate the coefficient of variation of h-th of index, ehIndicate the entropy of h-th of index.
4. according to the method described in claim 1, respectively being closed it is characterized in that, carrying out space manipulator based on Newton-Raphson approach
The solution procedure artificially limited is saved to include at least：
(1) the iterations K=0 for being iterated solution based on Newton-Raphson approach is enabled, c-th of joint J of mechanical arm is takencInstitute in addition
Articulate artificial limit limits for corresponding physics, even
Go to step (2)；
(2) joint J is enabledcLocking angle be qc_j, make qc_jIt is that traversal interval traverses joint J successively with Δ qcSlewing areaWherein, traversal interval delta q is determined according to practical calculation amount size, based on movenent performance (one-sided fortune
Dynamic performance or integrated motion performance CIj) solution formula, solve joint JcIt is locked in corresponding movenent performance value I when different anglej
(j=1,2 ..., m), go to step (3)；
(3) it is based on required joint JcThe movenent performance value I of space manipulator when being locked in different anglej, screen and meet Ij≥
IdesiredIt is required that joint JcAngular interval, wherein IdesiredIndicate the subsequently in-orbit operation task of knuckle failure space manipulator
It is required that movenent performance metrics-thresholds (i.e. index constant IconOr index ratio Irat), enable the joint J met the requirementscAngular area
Between middle maximum angle sectionFor joint JcArtificial limitGo to step (4)；
(4) step (1) to (3) is repeated, joint J is solvedcThe articulate artificial limit of institute in additionEach joint of space manipulator is completed artificially to limitSingle solve, enable K=K+1, go to step (5)；
(5) if K=1 or 1 ＜ K ＜ Kmax(KmaxFor the iterations upper limit) but the adjacent each joint of gained that solves twice artificially limit
The error of position bound cannot meet following formula (error-detecting formula)：
In above formula, υ indicates the limits of error, can require to carry out according to the artificial limit accuracy of iteration the amount of calculation and joint true
It is fixed；
Step (2) is then repeated to step (4),On the basis of, solution room mechanical arm again
The artificial limit in each joint；If 1 ＜ K ＜ Kmax, and the adjacent error satisfaction for solving each joint of gained twice and artificially limiting bound
Error-detecting formula is then completed to decouple, and output solves each joint of gained and artificially limits at this time
It completes each joint of space manipulator and artificially limits solution；If K=KmaxArtificially limit is still unsatisfactory for error inspection in each joints Shi Suoqiu
Formula is surveyed, then change threshold value and repeats step (1) to step (5), until iterations meet 1 ＜ K ＜ KmaxAnd required result is full
Until sufficient error-detecting formula；
Complete above-mentioned flow, you can realize that space mechanism shoulder joint artificially limits based on Newton-Raphson approachSolution；Analytic method is to solve joint based on Newton-Raphson approach artificially to limit in flow
The step of (1) to (4).
5. according to the method described in claim 1, it is characterized in that, the prevention process that space manipulator movenent performance is seriously degenerated
It includes at least：
(1) n degree of freedom series redundancy space manipulators are directed to, if its number of degrees of freedom, is more than 6, normality down space mechanical arm is respectively closed
Section slewing area is limited in required artificial limitIt is interior；
(2) as c-th of joint J of space manipulatorcFailure is simultaneously locked in its slewing area after unspecified angle, if number of degrees of freedom,
Space manipulator number of degrees of freedom, after degeneration is more than 6, then the artificial limit in solution room mechanical arm residue joint again, and repeats
Step (1) otherwise carries out step (3)；
(3) when the space manipulator after number of degrees of freedom, degeneration is non-redundance mechanical arm, it is contemplated that joint locking failure is again
After generation, movenent performance will seriously degenerate, and follow-up in-orbit operation task cannot be executed by even resulting in space manipulator, this
When, if still artificially limiting non-redundance mechanical arm residue healthy joint, not only it is difficult to prevent joint to lock failure again
The serious degeneration of manipulator motion performance afterwards results even in the movenent performance of mechanical arm at this time and declines to a great extent, therefore, works as joint
When the number of degrees of freedom, of lock space mechanical arm is less than 7, no longer its healthy joint is artificially limited, that is, discharges healthy joint
Artificial limit.
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