Optimal Motion Planning of the Space Manipulator for Minimum Reaction Torque to Satellite  

作　　者：Zhiqiang Xu Xiangxin Zeng Jinghui Li Zhaoyan Jia 

机构地区：[1]Norinco Group Air Ammunition Research Institute Co.,Ltd.,Harbin 150030,China

出　　处：《Journal of Harbin Institute of Technology(New Series)》2022年第2期81-91,共11页哈尔滨工业大学学报（英文版）

摘　　要：For the problem of free⁃floating space robot(FFSR)that the motion of manipulator will cause a large disturbance to the attitude of satellite,a path planning method based on hp⁃adaptive Gauss pseudospectral method(hp⁃AGPM)is proposed in this paper.In this method,the minimum reaction torque acting on satellite is taken as the objective function,and the number of segments and the order of polynomial in each segment are determined adaptively to improve the accuracy and the efficiency of the solution.At the same time,the theoretical convergence of the designed method is innovatively proved to ensure that the solution of the discretized nonlinear programming(NLP)problem is the optimal solution to the original optimal problem.The simulation results of a planar two degree⁃of⁃freedom(2⁃DOF)space manipulator show that the proposed path planning method is more effective than the resolved acceleration control(RAC)method and the control variable parameterization(CVP)method,and is better than other pseudospectral methods both in computation speed and the number of collocation points.

关 键 词：free⁃floating space robot hp-adaptive Gauss pseudospectral method path planning nonlinear programming 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]