Motion Planning for Vibration Reducing of Free-floating Redundant Manipulators Based on Hybrid Optimization Approach

摘要

This paper is concerned with optimal motion planning for vibration reducing of flee-floating flexible redundant manipulators.Firstly,dynamic model of the system is established based on Lagrange method,and the motion planning model for vibration reducing is proposed.Secondly,a hybrid optimization approach employing Gauss pseudospectral method(GPM) and direct shooting method(DSM),is proposed to solve the motion planning problem.In this approach,the motion planning problem is transformed into a non-linear parameter optimization problem using GPM,and genetic algorithm(GA) is employed to locate the approximate solution.Subsequently,an optimization model is formulated based on DSM,and sequential quadratic programming (SQP) algorithm is used to obtain the accurate solution,with the approximate solution as an initial reference solution.Finally,several numerical simulations are investigated,and the global vibration or residual vibration of flexible link is obviously reduced by the joint trajectory which is obtained by the hybrid optimization approach.The numerical simulation results indicate that the approach is effective and stable to the motion planning problem of vibration reducing.