自由漂浮空间机器人力矩最优轨迹规划算法  

Minimum torque trajectory planning algorithm for free-floating space robot

作　　者：胡庆雷[1] 王永智[2] 石忠[2,3] 

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001 [2]中国民航大学航空自动化学院,天津300300 [3]滨州职业学院,山东滨州256603

出　　处：《哈尔滨工业大学学报》2011年第11期20-24,共5页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(60774062;61004072);高等学校博士学科点专项科研基金资助项目(20070213061;20102302110031);教育部留学回国人员科研启动基金资助;黑龙江省留学回国人员科学基金资助项目(LC08C01);中央高校基本科研业务费专项资金资助项目(HIT.NSRIF.2009003);哈尔滨市科技创新人才研究专项基金资助项目(2010RFLXG001)

摘　　要：针对自由漂浮空间机器人的轨迹规划问题,提出一种基于粒子群优化算法的机械臂关节角驱动力矩最优轨迹规划算法.首先通过对自由漂浮空间机器人系统的动力学方程进行分析,给出了以机械臂关节角驱动力矩为目标函数的轨迹最优控制算法,并采用高阶多项式插值方法逼近机械臂关节角轨迹,结合粒子群优化算法对机械臂关节角轨迹进行优化求解.数值仿真表明,规划出的关节角轨迹平滑连续,在完成自由漂浮空间机器人姿态调整任务的同时,机械臂关节角驱动力矩降至最低.Considering the problem of trajectory planning for Free-Floating Space Robot （FFSR）, a particle swarm optimization（PSO） based on minimum torque trajectory planning scheme is presented. By analyzing the dynamic equation of system, an optimal control algorithm is applied to FFSR trajectory planning, in which the driving torque of manipulator joint angles is considered as the objective function. Moreover, the high order polynomial is used to approach the trajectories of the joint＇angles. To achieve the optimal trajectory, the PSO algorithm is implemented so that the planned joint angle trajectories are smooth and continuous. Numerical simulation results show that the proposed methodology is effective and available for solving FFSR trajectory planning problem. With accomplishing the space robot attitude adjusting mission, the driving torque is reduced to the least, free-floating; space robot; dynamic equation; particle swarm optimization; minimizing torque

关 键 词：自由漂浮 空间机器人 动力学方程 粒子群优化算法 力矩最优 

分 类 号：V42[航空宇航科学与技术—飞行器设计]