面向在轨测量任务的伴飞机器人三维仿真系统

吴剑威¹, 崔继文¹, 史士财², 谭久彬¹

(1.哈尔滨工业大学 超精密光电仪器工程研究所, 150080 哈尔滨; 2. 机器人技术与系统国家重点实验室(哈尔滨工业大学),150080 哈尔滨)



摘要:

为了避免空间伴飞机器人末端探测器与自身载体或者与待测航天器之间发生碰撞,在实际进行在轨测量之前,需要对其末端探测器轨迹规划方法进行充分的三维图形仿真．针对现有空间机器人地面仿真系统不能可视化的问题,设计了一种基于虚拟现实技术的三维仿真系统．首先,建立了基于Open Inventor的空间机器人三维实体几何模型,并构建反应空间机器人逻辑位置的三维仿真场景．然后,基于数据传输技术和构建的三维仿真场景建立了空间机器人可视化三维仿真系统．最后,建立空间机器人运动学模型并对空间机器人末端执行器跟踪的圆弧轨迹进行规划．仿真结果表明,利用该系统可直观得到空间机器人的运动过程以及空间机器人载体的运动特性,有利于空间机器人的轨迹规划和控制算法的仿真研究,可避免因不当轨迹规划而造成空间机器人发生碰撞．

关键词:  伴飞机器人  在轨测量  地面仿真  虚拟现实  轨迹规划

DOI：10.11918/j.issn.0367-6234.2015.02.010

分类号:TP24

基金项目:国家自然科学基金(51205090);中国博士后科学基金(2014M551231),黑龙江省博士后基金 (LRB12-358);哈尔滨工业大学科研创新基金(HIT.NSRIF.2015008).



3D simulation system of accompany flying robot for on orbit measurement

WU Jianwei¹,CUI Jiwen¹,SHI Shicai²,TAN Jiubin¹

(1. Center of Ultra-precision Optoelectronic Engineering, Harbin Institute of Technology, 150080 Harbin, China; 2. State Key Laboratory of Robotics and System(Harbin Institute of Technology), 150080 Harbin, China)

Abstract:

To avoid the collision between end-probe and space robot carrier or the spacecraft to be tested, 3D simulations are required for trajectory planning method of end-probe before the actual on-orbit measurement. In view of the nonvisual problem of the existing simulation system of space robot, a 3D simulation system based on virtual reality technology is designed. First, 3D solid model of space robot is established based on Open Inventor, and the 3D scene of space robot logical location is set up. Then, the visual 3D simulation system of space robot is created based on the data transmission technology and 3D scene. Finally, the kinematics model of space robot is established and the circular trajectory of the space robot end-effecter is planned. Simulation results indicate that the motion process of space robot and the motion characteristics of the space robot base can be obtained visually. This system facilitates the simulation study on the method of space robot trajectory planning and control, and avoids the collision of space robot due to improper trajectory planning.

Key words:  accompany-flying robot  on-orbit measurement  ground simulation  virtual reality  trajectory planning