TRAJECTORY PLANNING OF REDUNDANT SPACE MANIPULATORS FOR MULTI-TASKS

被引：2

作者：

Zhao, Suping ^{[1
]}

Zhu, Zhanxia ^{[2
]}

Chen, Chaobo ^{[1
]}

Du, Yushuang ^{[1
]}

Song, Xiaohua ^{[1
]}

Yan, Kun ^{[1
]}

Jiang, Dacheng ^{[1
]}

Li, Lin ^{[1
]}

Liu, An ^{[1
]}

机构：

[1] Xian Technol Univ, Sch Elect Informat Engn, 2 Xuefuzhonglu Rd, Xian 710021, Peoples R China

[2] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, 127 YouyiWest Rd, Xian 710072, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2023年 / 38卷 / 05期

关键词：

Redundant space manipulator; multiple tasks; trajectory planning; time-energy optimal; improved genetic algorithm; ROBOTS;

D O I：

10.2316/J.2023.206-0804

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：344 / 351

页数：8

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