Task priority motion planning of floating base

1 Dynamics and motion modeling of floating base robot

2 Full numerical simulation system of floating base robot

Numerical simulation system architecture

Manipulator model

3 Mixed task priority planning

The continuous path planning of space machine mainly involves the base attitude 、 The planning of the end position or posture of a manipulator , In the process , Position can be uniquely represented by a three-dimensional vector , Therefore, the planning of the end position of the manipulator is mainly for the planning of the three-dimensional vector coordinates , And for posture planning , Because the method of gesture representation is not unique , Therefore, there will be a variety of attitude planning methods . But whether it's planning or interpolation for position and posture , The corresponding planning algorithm is universal .

If the locus is polynomial based , And the velocity and acceleration at the beginning and the end have initial values , The trajectory is described as follows ：

Point to point continuous path planning

In this paper, spline curve is used to plan the trajectory between multiple points , To ensure the continuity of the trajectory , The initial and terminal velocities of the trajectory are generally specified . therefore , Given n+1 A little bit , The boundary velocity is scalar v0 and vn. The desired trajectory is planned according to the spline curve described by the following equation

Continuous path planning between multiple points

The mixed priority planning strategy mainly uses weighted least squares to combine the constrained task and the sub task into a new sub task , The new sub task is mainly completed in the zero space of high priority tasks . In the actual robot control process , It can effectively ensure the accuracy of high priority tasks , And when the redundancy is sufficient , When the manipulator encounters the joint limit position, it can not affect the accuracy of the secondary task , Otherwise, the accuracy of the subtask will be sacrificed .

HTP