对偶四元数法求解自由浮动机器人运动学

在卫星维修，空间建造和轨道碎片清理等任务中，在轨服务机器人是最佳选择。在轨服务空间机器人通常由基座卫星和与其相连接的一个或多个机械臂组成。由于基座不固定，空间机械臂运动学比地面固定机械臂的情况要复杂得多。该文提出了一种求解在轨服务自由浮动机器人的运动学正逆解方法，以及它的速度运动学正逆解方法。该方法采用对偶四元数来进行运动学求解，因此比基于齐次变换的经典方法的计算效率更高。通过将动量守恒定律引入到运动学模型中来求解运动学问题，该方法适用于具有任意数量的机械臂、混合移动铰链和转动关节的空间机器人。已通过运动控制过程模拟对该方法进行了验证。

Kinematics of Free Floating Robots Using Dual Quaternions

On-orbit servicing robots seem to be the best alternative for tasks such as satellite servicing, space construction missions, and orbital debris removal. Typically, space robots for on-orbit servicing consist of a base satellite and one or more manipulators attached to the base. Since the base is not fixed, the robot kinematics is more complicated than in the case of ground-fixed manipulators. This paper presents methods for solving the direct and inverse kinematics of a free floating robot for on-orbit servicing as well as its direct and inverse velocity kinematics. The presented approach employs dual quaternions for the kinematics solving, showing more computationally efficiently than the classical approach based on homogenous transforms. The velocity kinematics problems are solved by an introduction of the momentum conservation law into the kinematics model. The proposed methods are applicable to robots with an arbitrary number of manipulators and mixed prismatic and revolute joints. The methods are verified by computer simulation of a kinematic control process.