基于控制变量参数化方法的自由漂浮空间机器人路径规划研究

针对自由漂浮空间机器人传统路径规划方法对基座卫星扰动较大的问题，提出了一种基于控制变量参数化的路径规划方法。该方法将路径规划问题转化成以基座姿态扰动最小为目标函数并满足一系列约束条件的最优控制问题，并采用控制变量参数化方法进行离散化处理，将最优控制问题转化成求解非线性规划问题，并给出了完整的理论收敛性证明，从而准确地估计出自由漂浮空间机器人末端执行器的最优路径。仿真结果表明，与传统的分解加速度方法相比，该方法得到的运动路径所引起的基座卫星姿态扰动为0.104rad，相比传统方法降低了17.53%，验证了所提路径规划方法的有效性与最优性。

Path planning of free-floating space robot based on control variable parameterization method

In view of the problem that the traditional path planning method of free floating space robot has large disturbance to the base seat satellite, a path planning method based on the parameterization of control variables is proposed. The method transforms the path planning problem into an optimal control problem with the minimum of the base posture disturbance as the objective function and a series of constraints. The control variable parameterization method is used to discretize the problem, and the optimal control problem is transformed into a nonlinear programming problem, and a complete theoretical convergence proof is given. Thus, the optimal path of the end effector of the free floating space robot can be accurately estimated. The simulation results show that, compared with the traditional method of decomposition acceleration, the attitude disturbance of the base satellite caused by the motion path of the method is 0.104rad, which is 17.53% lower than the traditional method, which verifies the effectiveness and the optimality of the proposed path planning method.