摘要
针对自由飘浮空间机器人在捕获目标的过程中会对其载体姿态产生扰动的问题,提出了一种新的笛卡儿轨迹参数化方法.建立了反映载体姿态变化的目标函数该函数既可以限制机器人关节角的运动范围,也可以避免动力学奇异的影响.利用遗传算法进行目标函数的优化,有效降低了空间机器人末端执行器在跟踪笛卡儿轨迹时对载体姿态的影响.仿真结果验证了算法的有效性.
The free-floating space robot arm will bring attitude reactions to the spacecraft in target capturing process.For this problem,a new Cartesian trajectory optimization method is proposed.An objective function is established for measuring the variation of spacecraft attitude.This function constrains the angle of each joint within their ranges,and eliminates the influence of dynamics singularity.By the optimization of genetic algorithm,the influence on spacecraft attitude deduced by the Cartesian trajectory tracking motion of the space manipulator end effector is reduced.The simulation results verify the validity of the algorithm.
出处
《机器人》
EI
CSCD
北大核心
2011年第1期16-21,27,共7页
Robot
基金
国家863计划资助项目(2006AA04z228)
关键词
轨迹规划
空间机器人
参数化方程
遗传算法
反作用优化
避奇异
trajectory planning
space robot
parameterization equation
genetic algorithm
reaction optimization
singularity avoiding
