Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

摘要

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints.On the earth,prismatic-jointed manipulators could only position their end-effectors in a desired way.However,in space,the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement,which is formally expressed by linear and angular momentum conservation laws.In this study,a tractable algorithm particle swarm optimization combined with differential evolution (PSODE) is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators,which could avoid the pseudo inverse of the Jacobian matrix.The polynomial functions,as argument in sine functions are used to specify the joint paths.The coefficients of the polynomials are optimized to achieve the desired end-effector orientation and position,and simultaneously minimize the unit-mass-kinetic energy using the redundancy.Relevant simulations prove that this method provides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators.This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.