NSGA-II algorithm-based multi-objective optimization method for mechanical arm in redundant space

A space manipulator, manipulator technology, applied in instruments, adaptive control, control/regulation systems, etc., can solve problems such as manipulator jitter and reduce manipulator task execution accuracy.

Active Publication Date: 2016-06-15
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] When considering the joint drive torque of the space manipulator, we should also pay attention to the joint angular velocity of the manipulator. When the manipulator performs a large load transfer task, if the joint angular velocity is large, it will cause the shake of the manipulator, thereby reducing the task execution accuracy of the manipulator.

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  • NSGA-II algorithm-based multi-objective optimization method for mechanical arm in redundant space
  • NSGA-II algorithm-based multi-objective optimization method for mechanical arm in redundant space
  • NSGA-II algorithm-based multi-objective optimization method for mechanical arm in redundant space

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[0085] In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0086] It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0087] The multi-objective optimization method of the redundant space manipulator based on the NSGA-II algorithm mainly includes three parts: firstly, the point-to-point transfer task of the manipulator operation space is converted from the Cartesian space to the joint space, and the sine seventh polynomial interpolation method is used Parametrize the joint variables of the manipulator, and encode the polynomial coefficient sequen...

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Abstract

The embodiment of the present invention provides an NSGA-II algorithm-based multi-objective optimization method for a mechanical arm in a redundant space. The method comprises the steps of converting the point-to-point transfer task of the mechanical arm in the operating space from a Cartesian space into a joint space, conducting the parameterized treatment on joint variables based on the sine seven-times polynomial interpolation method, adopting an obtained parameter sequence code as an individual in an NSGA-II algorithm-based population, figuring out an optimized solution for the motion trajectory of the mechanical arm based on the NSGA-II algorithm to enable the sum of the average values of all joint torques to be minimum, the torque of a largest joint to be minimum and the maximum angular velocity of joints to be minimum, and selecting a most optimal solution out of an obtained pareto non-dominated solution set. Based on the above method, the sum of the average values of all joint torques, the torque of the largest joint and the maximum angular velocity of joints are optimized according to the described motion trajectory. According to the technical scheme of the invention, when the point-to-point transfer task is executed in the operating space with the constraint conditions of the task to be met, multiple objects of the mechanical arm can be optimized at the same time according to the above described planning path.

Description

【Technical field】 [0001] The invention relates to automatic control technology, in particular to a multi-objective optimization method for redundant space manipulators based on NSGA-II algorithm. 【Background technique】 [0002] When the end effector of the manipulator moves in the redundancy space, its task space dimension is smaller than its joint space dimension. Therefore, when the end effector of the redundant space manipulator moves according to a certain trajectory, the solution that its joint drive torque meets the task requirements is not unique. It is precisely because of its redundancy that we can optimize its auxiliary performance index under the main motion task. [0003] First of all, it is very important to optimize the joint drive torque of the space manipulator. On the one hand, it is considered from the safety of the working process. If the joint drive torque required by the manipulator is too large or exceeds the limit during the movement, the machine The...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 高欣杜明涛吴昊鑫孙汉旭贾庆轩王一帆吴立凯
Owner BEIJING UNIV OF POSTS & TELECOMM
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