使用多臂机器人进行大型柔性结构在轨装配的动力学建模与路径优化
Dynamics modelling and path optimization for the on-orbit assembly of large flexible structures using a multi-arm robot
AI总结：
针对多臂机器人在轨装配大型柔性结构时的耦合动力学与轨迹选择问题，建立多种LFR模型并提出可依据性能与稳定性指标优化路径的算法，验证了其有效性。
摘要：
本文提出了一套综合方法，用于对使用多臂机器人的大型柔性结构在轨装配任务场景进行建模。该方法考虑了整个任务过程中惯量和柔性的显著变化，解决了装配阶段机器人与不断演化的柔性结构之间的耦合动力学问题。一个三足行走机器人负责构建该结构，其主要目标是在柔性结构上稳定行走，同时拾取、搬运和装配子结构部件。为了准确捕捉装配场景中所有子系统的动力学和相互作用，考虑到多臂机器人不断变化的几何构型、变化的柔性动力学以及不确定性，研究建立了多种线性分式表示（LFR）。本文还为多臂机器人提出了一种路径优化算法，该算法能够根据与不同性能和稳定性指标相关的各种代价函数来选择轨迹。所得结果证明了所提出的建模方法和路径优化算法的有效性。
英文摘要：
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility throughout the mission, addressing the problem of coupling dynamics between the robot and the evolving flexible structure during the assembly phase. A three-legged walking robot is responsible for building the structure, with its primary goal being to walk stably on the flexible structure while picking up, carrying and assembling substructure components. To accurately capture the dynamics and interactions of all subsystems in the assembly scenario, various linear fractional representations (LFR) are developed, considering the changing geometrical configuration of the multi-arm robot, the varying flexible dynamics and uncertainties. A path optimization algorithm is proposed for the multi-arm robot, capable of selecting trajectories based on various cost functions related to different performance and stability metrics. The obtained results demonstrate the effectiveness of the proposed modeling methodology and path optimization algorithm.
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