Planning the operating position of redundant space manipulators (RSMs) can effectively improve the performance of manipulators while improving the quality of on-orbit servicing (OOS) is of great significance. For RSM, OOS with synchronous planning of initial and target positions (ITPs) has many combinations of positions or configurations, making it difficult to apply existing methods directly. To address this problem, this study proposes a method for synchronous planning ITPs of RSMs based on a deterministic configuration tree (DCT). First, the planning area is divided into grids, with the global performance analyzed utilizing self-motion manifolds. Then, a DCT is constructed based on the analysis results of global performance. Finally, a position planning strategy of pre-planning, rewiring, and regrowth is proposed to achieve synchronized planning of the ITP of the RSM on the DCT. This method is conducted alternately in operational space and joint space. The gridding and regrowth process in operational space avoids the considerable calculation required by gridding in high-dimensional joint space and improves the efficiency of position planning. In joint space pre-planning and rewiring, the ITP is optimized with the constraint of motion planning results while position planning is realized. The simulation experiment results of the 3-degree-of-freedom (DOF) planar RSM, 4-DOF RSM, and 7-DOF RSM indicate that the proposed method reduces time consumption by 34.81%, 18.15%, and 16.26% compared to conventional methods. Furthermore, energy consumption is reduced by 30.68%, 16.93%, and 15.64%, respectively. A typical ITPs synchronous planning task is also simulated, and the results also show that this planning method can effectively optimize the ITPs and reduce energy consumption.

中文翻译：

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基于确定性配置树的冗余空间机械臂初始位置和目标位置同步规划


规划冗余空间机械臂（RSM）的运行位置可以有效提高机械臂的性能，同时提高在轨服务（OOS）的质量具有重要意义。对于RSM，具有初始位置和目标位置（ITP）同步规划的OOS具有多种位置或配置组合，因此很难直接应用现有方法。为了解决这个问题，本研究提出了一种基于确定性配置树（DCT）的RSM同步规划ITP方法。首先，将规划区域划分为网格，利用自运动流形分析全局性能。然后，根据全局性能分析结果构建DCT。最后，提出了预规划、重布线和重生长的位置规划策略，实现了RSM的ITP在DCT上的同步规划。该方法在作战空间和关节空间交替进行。操作空间的网格化和再生过程避免了高维联合空间网格化所需的大量计算，提高了位置规划的效率。在关节空间预规划和重布线中，在实现位置规划的同时，以运动规划结果为约束对ITP进行优化。 3自由度平面RSM、4自由度RSM和7自由度RSM的仿真实验结果表明，与传统方法相比，该方法耗时分别减少了34.81%、18.15%和16.26%方法。此外，能耗分别降低30.68%、16.93%、15.64%。 还对典型的ITP同步规划任务进行了仿真，结果也表明该规划方法能够有效优化ITP并降低能耗。