Minimum base attitude disturbance track planning method for redundant space manipulator

A space manipulator and trajectory planning technology, applied in the aerospace field, can solve the problems of long convergence time, minimal disturbance of the base position without consideration, complex implementation of genetic algorithm, etc., to improve the accuracy and stability, and to plan the trajectory well. Effect

Inactive Publication Date: 2016-10-26
DALIAN UNIV
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Problems solved by technology

However, the implementation of genetic algorithm is more complicated and the convergence time is longer.
In 2011, Wang Ming and others proposed the trajectory planning based on the chaotic particle swarm algorithm to minimize the disturbance moment of the base, but did

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  • Minimum base attitude disturbance track planning method for redundant space manipulator
  • Minimum base attitude disturbance track planning method for redundant space manipulator
  • Minimum base attitude disturbance track planning method for redundant space manipulator

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Embodiment 1

[0039] The embodiments of the present invention are implemented on the premise of the technical solutions of the present invention, and detailed implementation methods and specific operation processes are given, but the protection scope of the present invention is not limited to the following embodiments.

[0040] The specific implementation steps are as follows:

[0041] Step 1: The research object of the present invention is a redundant space manipulator, and its 7 degrees of freedom all adopt rotary joints, which can meet the on-orbit service in a complex space environment. There are four common structures, and the S-R-S structure adopted in this paper is proved to be optimal in kinematics. Its simplified design model is as figure 2 shown. According to the design model of the redundant space manipulator, the 3D modeling is carried out based on SolidWorks 2013. Modular and top-down design principles are adopted in the modeling process, that is, from sketch design-working...

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Abstract

The invention relates to a minimum base attitude disturbance track planning method for a redundant space manipulator, and belongs to the technical field of aerospace. The method comprises the steps of (1), designing a three-dimensional model of the redundant space manipulator; (2), establishing a kinematic model of the redundant space manipulator; (3) establishing a kinematic equation of the redundant space manipulator by employing a generalized Jacobian matrix; (4), parameterizing joints by employing a 5-order sine polynomial function; (5), establishing a cost function equation under a minimum constraint condition of base attitude disturbance; (6), providing an improved hybrid particle swarm optimization; and (7), carrying out optimization solution to the cost function by employing the hybrid particle swarm optimization, thereby obtaining planning tracks under the constraint condition. According to the method, the track planning problem of the redundant space manipulator under the minimum constraint condition of the base attitude disturbance is solved, and the planning tracks solved by the improved hybrid particle swarm optimization is high in precision and good in effect and is steady.

Description

technical field [0001] The invention relates to a trajectory planning method for minimum base attitude disturbance of a redundant space manipulator, belonging to the technical field of aerospace. Background technique [0002] With the continuous development of on-orbit service technology in various countries, the application of space robots has become more and more extensive, and it has become a hot and difficult research topic for scholars. When the space robot performs tasks, in order to save fuel consumption, the attitude control system will be actively turned off. At this point, the general space robot will be in a free-floating state. The base of a free-floating space robot is not fixed, and there is a dynamic coupling between the manipulator and the base. When the manipulator performs tasks, it will cause the disturbance of the attitude of the base, and in turn, the disturbance of the attitude of the base will affect the normal working state of the manipulator. In o...

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Application Information

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IPC IPC(8): G06F17/11G06F17/50B25J9/16
CPCB25J9/1664G06F17/11G06F30/367
Inventor 张强张建霞周东生魏小鹏
Owner DALIAN UNIV
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