Path planning of a free-floating space robot based on the degree of controllability |
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Authors: | XingHong Huang YingHong Jia ShiJie Xu |
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Affiliation: | 1.School of Astronautics,Beihang University,Beijing,China |
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Abstract: | An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot (FFSR) system by proposing a concept of degree of controllability (DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controllability-measurement (LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy. |
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