Space multi-joint robot path planning method based on differential evolution particle swarm optimization

Abstract

The invention discloses a space multi-joint robot path planning method based on differential evolution particle swarm optimization. The method comprises the steps of building a kinematic model and a dynamic model of mechanical arm joint angle changes of a space multi-joint robot, then building a model of disturbance caused by collision of a multi-joint robot, expressing a changing track curve of joint angles as a polynomial function relative to time, and building a total fitness function; and in iteration solution, firstly, using particle swarm optimization, and starting a differential evolution algorithm when a stagnation point appears in particle swarm optimization, and exchanging partial individuals of the populations of the two algorithms so as to enlarge the population size, and completing path planning of the space multi-joint robot. According to the space multi-joint robot path planning method based on differential evolution particle swarm optimization, grasp path planning of the space mechanical arm is carried out by utilizing the particle swarm optimization corrected with differential evolution; and because the purpose of planning is to make the end effector of the mechanical arm arrive at the fixed position and be in the fixed gesture, and to control the structure of the mechanical arm at the termination of time, the disturbance caused to the base by collision betweenthe end effector and a target is the least, and total energy consumption of a traveling path is the least.

Description

technical field [0001] The invention belongs to the technical field of space robot path planning, and in particular relates to a space multi-joint robot path planning method based on differential evolution particle swarm algorithm. Background technique [0002] Space robot is a hot spot in the development of space technology at present. All countries are researching the on-orbit service technology of space robots, because abandoned satellites not only become space junk, but also take up valuable orbital resources. In addition, the use of space robots to replace astronauts can prevent astronauts from being injured and improve the efficiency of space exploration. [0003] Planning a suitable joint angle change trajectory is the prerequisite for the space multi-joint robot to perform the capture task. Since there are various constraints and restrictions when the space multi-joint robot performs tasks, such as: avoiding obstacles, least energy consumption, shortest time, or mi...

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Problems solved by technology

[0005] Various search algorithms have their disadvantages, such as search stagnation, premature convergence, unstable results, poor repeatability, and susceptibility to initial values ​​and parameters, etc.

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