A master-slave optimization method for multiple on-orbit missions

Abstract

The invention discloses a master-slave optimization method for multiple on-orbit tasks. An optimal passing point sequence is obtained according to a main layer on the basis of target requirements of the layer; according to an attached layer and on the basis of the passing point sequence of the main layer, joint motions of a robot are obtained by combining target requirements and a theoretical equation of the attached layer; and the attached layer transmits an optimization result to the main layer, the main layer improves the passing point sequence according to the target requirements of the main layer as well as the optimization result of the attached layer, sends an improved passing point sequence to the attached layer, and a cycle is not ended unless index requirements are met. The optimization method uses an improved genetic algorithm on the partial ordering relation of sets, and searches optimization and solves a master-slave optimization problem on the basis of the multiple tasks. The algorithm form is visual, operation time is short, an optimization searching result is high in precision, and the sum of errors of practical and expected poses of all passing points is zero. In addition, the algorithm based on a positive kinetic equation can avoid the singularity in the movement process of the spatial robot.

Description

technical field [0001] The invention belongs to the technical field of spacecraft operation planning, and in particular relates to a master-slave optimization method for multiple on-orbit tasks. Background technique [0002] In recent decades, space robots have been used to perform a large number of orbital tasks, such as space station assembly and orbital debris removal. Since operation planning is the basis for successfully completing tasks with space robots, the study of robot operation planning has become the focus in recent years. Currently, the research on manipulative planning for space robots is mainly divided into two categories: point-to-point planning in task space and configuration-to-configuration planning in joint space. [0003] In industrial production, robots are often used to continuously perform multiple tasks in order to improve productivity and save costs. At present, the research on the multi-task operation planning problem of industrial robots is rel...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a master-slave optimization method for multiple on-orbit tasks to solve the problem of operation planning for space robots to continuously perform multiple orbital tasks.

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