基于混沌粒子群优化算法的空间机械臂轨迹规划算法

摘要

A path planning algorithm of free-floating space manipulator is studied in order to obtain minimum disturbance of base attitude caused by manipulator’s movement. The manipulator joints are parameterized by sine function, and the object of base attitude disturbance minimum is given within the limit of joints angular velocity, angular acceleration and base attitude range. After introducing the chaos particle swarm optimization(CPSO) algorithm as the problem solving strategy, the problem’s solving steps are given. Numerical example results show that under the condition of system constraint, the mechanical arm joints change smoothly without angular velocity mutation, and have faster convergence speed than the standard particle swarm optimization(PSO) algorithm. The simulation results obtained under the optimal trajectory show that the base attitude disturbance is 1.3708°(triaxial synthesis) at termination time, which is reduced by more than 84%than the trapezoidal planning attitude disturbance(8.5459°), and this reveals that the proposed algorithm can effectively reduce the base attitude disturbance caused by manipulator’s movement.%针对自由漂浮状态下的空间机械臂系统，研究了基座姿态扰动最小的轨迹规划问题。首先通过正弦函数参数化机械臂各个关节，在机械臂关节角速度、角加速度以及基座姿态变化范围受限的约束条件下，定义了基座姿态扰动最小的目标函数，然后提出了基于混沌粒子群算法的轨迹优化策略，并给出了具体求解步骤。数值算例结果表明，在满足系统的约束条件下，机械臂关节变化平缓，不存在角速度突变的情况，并且比标准粒子群算法具有更快的收敛速度，在优化轨迹下进行运动仿真，结果表明终止时刻基座姿态扰动为1.3708°(三轴合成)，而梯形规划的姿态扰动为8.5459°，优化后使得姿态的扰动减小84%，从而说明所提出的算法能够有效减小机械臂运动对基座姿态的扰动。