基于小波配点法的空间机械臂关节轨迹规划  

Space Manipulators Path Planning Based on Wavelet Collocation

作　　者：刘泽明[1] 张青斌[1] 丰志伟[1] 杨涛[1] 

机构地区：[1]国防科技大学航天与材料工程学院,湖南长沙410073

出　　处：《国防科技大学学报》2010年第6期135-141,共7页Journal of National University of Defense Technology

基　　金：国防科技大学预研基金资助项目(GJ07-01-01)

摘　　要：针对平面型空间机械臂关节轨迹优化问题,提出一种基于小波配点法的数值算法。该算法在区间样条小波函数及其导数算法的基础上,对状态变量与控制变量在小波配点上作离散化处理,然后将原最优控制问题转化为以小波系数为优化参数的非线性规划问题,利用非线性规划算法求解该问题得到原问题的解。算法可充分利用小波具有非线性逼近的优点,提高计算精度和效率。对典型问题进行数值仿真,结果表明该算法对空间机械臂关节轨迹优化问题是有效的。A novel numeric method for the planar space manipulators joint trajectory optimization problem was proposed based on the wavelet collocation.Based on the interval spline wavelet according with its derivation algorithms,the approach expanded the state and control variables via cubic spline wavelet decomposition,and then the trajectory optimization problem was translated to nonlinear programming problem with wavelet coefficient being parameters.The wavelet advantageous properties of compact representation could inherently make it efficiently and accurately capture the discontinuities.The novel approach was demonstrated by a typical space manipulators joint trajectory optimization problem,and the optimal results show that out approach is efficient and accurate.

关 键 词：区间样条小波 轨迹优化 非完整系统 空间机械臂 

分 类 号：V412.4[航空宇航科学与技术—航空宇航推进理论与工程]