機(jī)器人路徑規(guī)劃畢業(yè)論文外文翻譯-文庫吧
2025-01-04 07:33 本頁面
【正文】 ells and on each node the discrete value of the potential will be specified. In this paper for the elimination of the above defects, spline interpolation technique is proposed. The nodal point which is given as a point of path will be defined to be a part of smoothed spline function. And numerical simulations are conducted for the path planning of the space robot to capture the target, in which the potential by solving the Laplace equation is applied and generates the smooth and continuous path by the spline interpolation from the initial to the final posture.II. ROBOT MODELThe model of space robot is illustrated in .The robot is mounted on a spacecraft and has two rotary joints which allow the inplane motion of the endeffecter. In this case we have an additional freedom of the spacecraft attitude angle and this will be considered the additional rotary joint. This means that the space robot is three linked with 3 DOF (Degree Of Freedom). The length of each link and the angle of each rotary joint are given byand(i = 1,2,3) , respectively. In order to simplify the discussions a few assumptions are made in this paper:the motion of the space robot is inplane,., two dimensional one.effect of robot arm motion to the spacecraft attitude is negligible.robot motion is given by the relation of static geometry and not explicitly depending on time.the target satellite is inertially stabilized.In general inplane motion and outofplane motion will be separately performed. So we are able to assume the above first one without loss of generality. The second assumption derives from the parison of the ratio of mass between the robot arm and the spacecraft body. With respect to the third assumption we focus on generating the path planning of the robot and this is basically given by the static nature of geometry relationship and is therefore not depending on the time explicitly. The last one means the satellite is cooperative. Model of Twolink Space RobotIII. PATH PLANNING GALGORITHMA. Laplace Potential GuidanceThe solution of the Laplace equation (1) is called a Harmonic potential function, and its and minimum values take place only on the boundary. In the robot path generation the boundary means obstacle and goal. Therefore inside the region where the potential is defined, no local minimum takes place except the goal. This eliminates the deadlock phenomenon for path generation. （1）The Laplace equation can be solved numerically. We define two dimensional Laplace equation as below: （2）And this will be converted into the difference equation and then solved by Gauss Seidel method. In equation (2) if we take the central difference formula for second derivatives, the following equation will be obtained: （3）where ， are the step (cell) sizes between adjacent nodes for each x, y direction. If the step size is assumed equal and the following notation is used:Then equation (3) is expressed in the following manner: （4）And as a result, two dimensional Laplace equation will be converted into the equation (5) as below: （5）In the same manner as in the three dimensional case, the dif
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