空间站组合臂逆运动学求解及轨迹规划

The Chinese space station manipulator system comprises a 10-meter-long macromanipulator and a 5-meter-long micromanipulator, both of which are 7-degree-of-freedom (DOF) manipulators. When the base of the micromanipulator is mounted at the end of the macromanipulator, a combined manipulator with 14 DOFs is formed. To configure the design and plan the path of the space station’s 14-DOF super-redundant manipulator, a parametric method for the end position of the large arm is proposed such that the inverse-kinematics problem of the combined arm is transformed into two 7-DOF manipulators. Focusing on the specific position and attitude of the end of the 7-DOF manipulator, an analytical inverse-kinematic solution for the manipulator is derived based on the parameterization method for the angle of joint 1. Additionally, the angle of joint 1 is specified using the geometric method to optimize the designed manipulator configuration. To improve the efficiency and accuracy of path planning, the path planning of the manipulator in Cartesian space is conducted based on position-level inverse kinematics. Finally, considering the combined arm-operation extravehicular equipment as an example, a simulation is performed to verify the effectiveness of the method.