Redundant Space Manipulator Optimization Design Based on Genetic Algorithm of Immunity

摘要

To solve the problem of designing a one fault tolerant, one degree of redundancy, space manipulator; a new multi-mode function optimization algorithm is presented. Kinematics redundancy is an important method to improve the reliability of a space manipulator. A kinematics redundant manipulator design bears multi-parameters, non-linearity and multi-mode. This problem can't be solved by a conventional optimization method. By simulating antibody search mechanism, combined with immune system theory, the antibody diversity is maintained, and full-scale searching is carried out- realizing the multi-parameters non-linear multi-mode manipulator design. The design example shows that the presented algorithm is effective.