The trajectory planning is addressed for a redundant space manipulator. The end effector is constrained to visit a set of predefined task points with minimum energy cost. In addition, minimum manipulator manoeuvre time and minimal attitude disturbance on free-floating base spacecraft are considered. The trajectory planning problem is studied as an optimisation problem, including the sequential order of task points, the joint configurations corresponding to each task point, and a shared coefficient. An improved genetic algorithm (IGA) is proposed to optimise the aforementioned parameters. In IGA, each chromosome consists of three parts, namely, the tasks points, the joint configurations, and the shared coefficient. Numerical simulations and comparisons are carried out to verify the proposed method.
机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Wu, Changqing
Xu, Rui
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机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Xu, Rui
Zhu, Shengying
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机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Zhu, Shengying
Cui, Pingyuan
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机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
机构:
Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Shenzhen Engn Lab Digital Stage Performance Robot, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Xu, Wenfu
Yan, Lei
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Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Shenzhen Engn Lab Digital Stage Performance Robot, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Yan, Lei
Mu, Zonggao
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h-index: 0
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Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Aerosp Dongfanghong Dev Ltd, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Mu, Zonggao
Wang, Zhiying
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h-index: 0
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Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Wu, Changqing
Xu, Rui
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h-index: 0
机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Xu, Rui
Zhu, Shengying
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Zhu, Shengying
Cui, Pingyuan
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
Minist Ind & Informat Technol, Key Lab Autonomous Nav & Control Deep Space Explo, Beijing 100081, Peoples R ChinaBeijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
机构:
Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Shenzhen Engn Lab Digital Stage Performance Robot, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Xu, Wenfu
Yan, Lei
论文数: 0引用数: 0
h-index: 0
机构:
Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Shenzhen Engn Lab Digital Stage Performance Robot, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Yan, Lei
Mu, Zonggao
论文数: 0引用数: 0
h-index: 0
机构:
Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Aerosp Dongfanghong Dev Ltd, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
Mu, Zonggao
Wang, Zhiying
论文数: 0引用数: 0
h-index: 0
机构:
Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R ChinaHarbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China