基于果蝇算法的空间机械臂最优抑振轨迹规划方法  

Optimal Vibration Suppression Trajectory Planning Method of Space Manipulator Based on Fruit Fly Algorithm

作　　者：马荣华[1] 赵嵩[2] MA Ronghua;ZHAO Song(Zhengzhou Railway Vocational&Technical College,Zhengzhou 450052,China;Henan University,Zhengzhou 450046,China)

机构地区：[1]郑州铁路职业技术学院,郑州450052 [2]河南大学,郑州450046

出　　处：《机械设计与研究》2022年第6期49-52,共4页Machine Design And Research

基　　金：河南省科技攻关项目(212102210530)。

摘　　要：规划空间机械臂抑振轨迹时,极易陷入局部最优解,导致抑振效果不理想,为此,提出了基于果蝇算法的空间机械臂最优抑振轨迹规划方法。构建空间机械臂的刚柔混合动力学方程后,利用正弦-梯形函数规划空间机械臂的关节角速度,得到待定参数并建立待定参数目标函数。通过改进的果蝇算法对待定参数进行寻优,完成空间机械臂最优抑振轨迹的规划。实验结果表明,所提方法具有更好的抑振效果。It is easy to fall into the local optimal solution when planning the vibration suppression trajectory of space manipulators,which leads to the ineffective vibration suppression.For this reason,an optimal vibration suppression trajectory planning method for the space manipulator based on the fruit fly algorithm is proposed.After the rigid-flexible hybrid dynamic equation of the space manipulator is established,the joint angular velocity of the space manipulator is planned using sine trapezoid function.Through the improved fruit fly algorithm,the optimal trajectory planning of the space manipulator is completed.The experimental results show that the proposed method has better vibration suppression performance.

关 键 词：空间机械臂 抑振轨迹规划 动力学建模 梯形函数 果蝇算法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]