TY - GEN
T1 - Trajectory planning of free-floating space robot using an improved PSO algorithm
AU - Zhu, Zhanxia
AU - Zhong, Jianfei
AU - Jing, Sa
AU - Tang, Biwei
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12
Y1 - 2018/12
N2 - In order to ensure non-disturbance on the base attitude of the space robot system during the whole operation process of the robot manipulator, this paper proposes an improved Particle Swarm Optimization(PSO) algorithm and uses it to solve the optimal trajectory planning problem of the kinematically redundant space robot in free-floating mode. Firstly, based on the forward kinematics, the joint trajectories are parameterized with polynomial trigonometric function to simplify the calculation. Then, considering the zero-disturbance to the base attitude and the desired pose accuracy of the end-effector, the multi-weighted optimization objective function is established. Thirdly, an improved PSO algorithm with self-adaptively updated control parameters is proposed to find the optimal solution of joint trajectories, with which the optimization objective can be satisfied. Finally, the space robot with seven degrees of freedom(DOF) redundant manipulator is employed for simulation. The simulation results demonstrate the effectiveness of the proposed method.
AB - In order to ensure non-disturbance on the base attitude of the space robot system during the whole operation process of the robot manipulator, this paper proposes an improved Particle Swarm Optimization(PSO) algorithm and uses it to solve the optimal trajectory planning problem of the kinematically redundant space robot in free-floating mode. Firstly, based on the forward kinematics, the joint trajectories are parameterized with polynomial trigonometric function to simplify the calculation. Then, considering the zero-disturbance to the base attitude and the desired pose accuracy of the end-effector, the multi-weighted optimization objective function is established. Thirdly, an improved PSO algorithm with self-adaptively updated control parameters is proposed to find the optimal solution of joint trajectories, with which the optimization objective can be satisfied. Finally, the space robot with seven degrees of freedom(DOF) redundant manipulator is employed for simulation. The simulation results demonstrate the effectiveness of the proposed method.
KW - Free-floating space robot(FFSR)
KW - PSO algorithm
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=85068402185&partnerID=8YFLogxK
U2 - 10.1109/ITOEC.2018.8740747
DO - 10.1109/ITOEC.2018.8740747
M3 - 会议稿件
AN - SCOPUS:85068402185
T3 - Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018
SP - 580
EP - 585
BT - Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018
A2 - Xu, Bing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2018
Y2 - 14 December 2018 through 16 December 2018
ER -