Space manipulator path planning method for reducing base attitude disturbance

Abstract

The invention provides a space manipulator path planning method for reducing base attitude disturbance. The method includes the following steps that firstly, a kinematical equation is built for a space manipulator; then, parameterization is conducted on a joint trajectory through a sine polynomial function, and a fitness function is defined according to the motion constraint of the manipulator and attitude control accuracy of a base; finally, the optimal trajectory of joint movement of the space manipulator is searched for through a simulated annealing-particle swarm algorithm so that the minimum disturbance can be generated by the base attitude to the movement of the manipulator. The space manipulator path planning method mainly aims to achieve the purpose that path planning is conducted on the joint trajectory of the seven-freedom-degree space manipulator through an intelligent optimization algorithm.

Description

Technical field [0001] The present invention is a field of space control. More specifically, it involves the control technology of space robotic arm. Background technique [0002] Space robots are the hotspot of current space technology development.All countries are studying the in -orbit service technology of space robots because abandoned satellites not only become space garbage, but also occupy valuable rail resources.In addition, using space robots instead of astronauts can prevent astronauts from being harmed and improved the benefits of space exploration. [0003] The proper path for planning is the prerequisite for space robots to perform rail service tasks.Due to the dynamic coupling between the space robotic arm and its base, the movement of the robotic arm will interfere with the base position, which will cause the position and posture of the base position to change; and the changes in the position and posture of the base position will in turn affect the end of the robo...

AI Technical Summary

Problems solved by technology

In 1991, M. A Torres et al. proposed to use the Enhanced Disturbance Map (EDM) method for attitude control, which can effectively reduce the attitude interference to the base, but the calculation of EDM requires a large storage space and is not efficient

In 1991, C.Fernades et al. proposed a suboptimal path planning method, but its ability to adjust the attitude of the base is limited

In 2004, Wei Baogang et al. used the quasi-Newton algorithm to determine the optimal control input signal, and the optimal trajectory of the non-holonomic system can be obtained, but the simulation effect is affected by the parameterized time interval

In 2006, P.F Huang proposed the optimal path planning method based on the genetic algorithm to minimize the base reaction interference, which can realize the stable control of the base attitude, but the implementation of the genetic algorithm is relatively complicated

In 2011, Wang Yongzhi, Shi Ye, and Wang Ming respectively proposed particle swarm optimization algorithm with shrinkage factor, quantum particle swarm optimization algorithm (QPSO) and chaotic particle swarm optimization algorithm (CPSO) to optimize the joint trajectory, which can reduce the The attitude of the base changes, but they are not simulated with a seven-degree-of-freedom robot arm

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