Space robot minimal base disturbance trajectory planning method

Abstract

The present invention relates to a minimum base disturbance trajectory planning method for a space robot, in particular to a minimum base disturbance trajectory planning method for a space robot based on an improved chaotic particle swarm algorithm, which belongs to the field of aerospace technology; the steps included in the present invention To: (1) establish the kinematic equation of the 6-DOF space robot; (2) parameterize the joints with the 7th-order sine polynomial function; (3) establish the equation of the fitness function, including the constraints of the position of the base Disturbance, attitude disturbance, joint velocity and angular velocity constraints; (3) In order not to fall into local optimum and quickly find the optimal solution, the chaotic particle swarm optimization algorithm is improved; (4) The improved chaotic particle swarm optimization algorithm is used to solve the unknown Parameters, the optimal trajectory of the space robot can be obtained in the case of the minimum disturbance of the base posture. The invention focuses on solving the problem of trajectory planning for a 6-degree-of-freedom free-floating space robot, and uses the improved chaotic particle swarm algorithm to find out the optimal trajectory of the space robot when the disturbance of the base seat posture is minimal, and the effect is good.

Description

technical field [0001] The invention relates to a space robot minimum base disturbance trajectory planning method based on an improved chaotic particle swarm algorithm, and belongs to the technical field of computational aerospace. Background technique [0002] Space robots play an irreplaceable role in space on-orbit services. The space robot system in the free-floating state is unstable. When the space robot performs tasks in space, its motion will disturb the position and attitude of the base , at the same time, the change of the position and attitude of the base will have a certain impact on the movement of the space robot, which may lead to the failure of the mission, and then bring immeasurable losses. In order to keep the position and attitude of the base unchanged and reduce the interaction between them, it is necessary to plan the trajectory of the space robot so that the disturbance to the base is minimized during the movement. [0003] The problem of trajectory p...

AI Technical Summary

Problems solved by technology

In 1991, Dubowsky and Torres proposed a technical method to enhance the interference graph, which can optimize the trajectory of the space robot and reduce the disturbance to the base, but it is only demonstrated for the two-degree-of-freedom space manipulator and cannot be widely used. Applied to multi-degree-of-freedom space manipulators; in 2001, Yoshida et al. proposed a zero-reaction idea, based on the generalized Jacobian matrix to perform space manipulator trajectory planning under the constraints of the base attitude without disturbance, but it is not suitable for redundancy Space manipulator; in 2006, Panfeng Huang et al. proposed a path planning based on genetic algorithm for minimum base disturbance path planning, but the implementation of genetic algorithm is more complicated and the convergence time is longer; in 2011, Wang Ming et al. proposed a path planning based on chaotic particles The trajectory planning of the minimum disturbance moment of the base based on the swarm algorithm does not consider the minimum pose disturbance of the base; The location of the minimum disturbance

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