PSO-Based Time-Optimal Trajectory Planning for Space Robot with Dynamic Constraints

机译：基于PSO的具有动态约束的空间机器人时间最优轨迹规划

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It is significant to increase the efficiency of space robotic operation in on-orbital services, to plan the time-optimal trajectory becomes an important and necessary problem. As well known, any motion of space manipulator will disturb its base due to the

机译：提高在轨服务中空间机器人的运行效率，规划时间最优轨迹成为重要而必要的问题，具有重要意义。众所周知，空间操纵器的任何运动都会由于其运动而干扰其基座。

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来源
《Robotics and Biomimetics, 2006 IEEE International Conference on; Kunming,China》||P.1402-1407|共6页
会议地点 KunmingChina
作者
Panfeng Huang; Yangsheng Xu;
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原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
aerospace robotics; manipulators; mobile robots; optimal control; particle swarm optimisation; path planning; search problems; PSO-based time-optimal trajectory planning; dynamic constraint; free-floating space robot; global search; inter-knot parameter; joint angul;

机译：航空航天机器人;操纵器;移动机器人;最优控制;粒子群优化;路径规划;搜索问题;基于PSO的时间最优轨迹规划;动态约束;自由漂浮空间机器人;全局搜索;结点参数;关节角;

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PSO-Based Time-Optimal Trajectory Planning for Space Robot with Dynamic Constraints

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