Multi-object optimized space manipulator trajectory planning method

Abstract

The invention relates to a multi-object optimized space manipulator trajectory planning method. Aiming at trembling produced in the moving process of a space manipulator and disturbance to a platform,optimal path planning is conducted; the method adopts a multi-object chaotic particle swarm optimization algorithm to optimize joint trajectory parameters in the manipulator moving process, so that reaction of movement of the manipulator to the platform is reduced, the peak value of control moment is reduced, and the disturbance of the platform and the trembling of the manipulator are reduced. The planned manipulator trajectory is smooth and continuous, the multi-object optimized space manipulator trajectory planning method can be applied to a multi-degree-of-freedom space manipulator. The multi-object optimized space manipulator trajectory planning method has the characteristics of high universality, good robustness, high convergence speed and the like.

Description

technical field [0001] The invention belongs to the field of trajectory planning of a space manipulator, and relates to a multi-objective optimized space manipulator trajectory planning method, in particular to a space manipulator trajectory planning method for simultaneously realizing minimum disturbance to a base and minimum tremor of a manipulator. Background technique [0002] Space operations, as the direction of future aerospace technology development, are getting more and more attention from aerospace powers. The space manipulator robot consisting of a platform base and an operating manipulator can be widely used in on-orbit service tasks such as on-orbit refueling, maintenance of faulty satellites, orbital garbage cleaning, and auxiliary orbit changes. The space manipulator robot is a kind of space robot, which has a large working space and dexterous operation performance. It has become the main means of current space operations. [0003] During the space operation...

AI Technical Summary

Problems solved by technology

[0003] During the space operation, the movement of the manipulator will generate reaction force and moment on the base due to the dynamic coupling between the manipulator and the base, which will change the center of mass and attitude of the base, which will lead to the The failure of the directional antenna and observation equipment may cause the robot to lose control in severe cases

Especially when the moment of inertia of the manipulator and the base is relatively large, the influence is particularly obvious. At the same time, the change of the attitude of the base will affect the accuracy of the manipulator operation, making fine operation difficult.

In addition, drastic changes in joint torques can cause vibrations in the robotic arm, increasing the time required to stabilize the manipulating arm and reducing manipulation precision

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