TRAJECTORY PLANNING OF REDUNDANT SPACE MANIPULATORS FOR MULTI-TASKS

Suping Zhao, Zhanxia Zhu, Chaobo Chen, Yushuang Du, Xiaohua Song, Kun Yan, Dacheng Jiang, Lin Li, An Liu

科研成果: 期刊稿件文章同行评审

3 引用 (Scopus)

摘要

The trajectory planning is addressed for a redundant space manipulator. The end effector is constrained to visit a set of predefined task points with minimum energy cost. In addition, minimum manipulator manoeuvre time and minimal attitude disturbance on free-floating base spacecraft are considered. The trajectory planning problem is studied as an optimisation problem, including the sequential order of task points, the joint configurations corresponding to each task point, and a shared coefficient. An improved genetic algorithm (IGA) is proposed to optimise the aforementioned parameters. In IGA, each chromosome consists of three parts, namely, the tasks points, the joint configurations, and the shared coefficient. Numerical simulations and comparisons are carried out to verify the proposed method.

源语言英语
页(从-至)344-351
页数8
期刊International Journal of Robotics and Automation
38
5
DOI
出版状态已出版 - 2023

指纹

探究 'TRAJECTORY PLANNING OF REDUNDANT SPACE MANIPULATORS FOR MULTI-TASKS' 的科研主题。它们共同构成独一无二的指纹。

引用此