基于小波分析的空间机械臂运动规划的最优控制  

Based on Wavelet Analysis to Optimal Control of Motion Planning of Space Manipulator

作　　者：戈新生[1] 张奇志 刘延柱[2] 

机构地区：[1]北京机械工业学院基础部,北京100085 [2]上海交通大学工程力学系,上海200030

出　　处：《应用数学和力学》2000年第10期1046-1052,共7页Applied Mathematics and Mechanics

基　　金：国家自然科学基金资助项目!(19782 0 0 3)

摘　　要：讨论了空间机械臂系统非完整运动规划的最优控制问题·　利用小波分析方法 ,将离散正交小波函数引入最优控制 ,由小波级数展开式逼近替代传统的Fourier基函数 ,提出基于小波分析的最优控制数值算法·　仿真结果表明 ,该方法对求解空间机械臂非完整运动规划问题是有效的·The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based on wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.

关 键 词：空间机械臂 运动规划 是优控制 小波分析 动力学方程 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]