Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links
作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150001China
出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)
年 卷 期：2024年第37卷第8期
页 面：435-459页
核心收录：
学科分类：07[理学] 0701[理学-数学] 070101[理学-基础数学]
基 金：co-supported by the Basic Science Center Project of the National Natural Science Foundation of China(No.T2388101) the Key Program of the National Natural Science Foundation of China(No.92148203)
主 题：Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance
摘 要：This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.
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