自由漂浮空间机器人最小基座反作用轨迹规划

摘要

在自由漂浮空间机器人系统中,由于机械臂与基座之间存在动力学耦合,机械臂运动会对基座产生不期望的反作用干扰,因此必须最小化基座反作用.为此,提出了一种关节空间内点对点轨迹规划的方法.首先,利用sin函数参数化关节轨迹；然后根据基座反作用和运动约束定义适应函数；最后利用混沌粒子群优化(CPSO)算法搜索空间机械臂的全局最优轨迹,使基座反作用最小.该方法考虑了机械臂的关节角、关节速度和加速度约束.给出一个仿真算例来验证该方法的有效性.规划的轨迹连续平滑,适用于多自由度空间机械臂.%In a free-floating space robotic system, the motion of manipulator will transmit the reaction to its base due to the dynamics coupling. Moreover, the base reaction will cause undesirable effects. Therefore, it is necessary to minimize the base reaction. A novel point-to-point trajectory planning approach in joint space is proposed for minimizing the base reaction. Firstly, the joint trajectory is parameterized by using a sinusoidal function. Secondly, an adaptive function is defined according to the base reaction and motion constraints. Finally, the Chaotic Particle Swarm Optimization (CPSO) algorithm is used to search the global optimal trajectory. The proposed method is performed with respect to joint angle constraints, joint velocity constraints and joint acceleration constraints. An illustrative example has verified the validity of the method. Furthermore, the planned trajectory is smooth. Thus the method can be applied to the space manipulator with any DOFs.