自由漂浮空间机器人力矩最优轨迹规划算法

摘要

Considering the problem of trajectory planning for Free-Floating Space Robot （FFSR）, a particle swarm optimization（PSO） based on minimum torque trajectory planning scheme is presented. By analyzing the dynamic equation of system, an optimal control algorithm is applied to FFSR trajectory planning, in which the driving torque of manipulator joint angles is considered as the objective function. Moreover, the high order polynomial is used to approach the trajectories of the joint＇angles. To achieve the optimal trajectory, the PSO algorithm is implemented so that the planned joint angle trajectories are smooth and continuous. Numerical simulation results show that the proposed methodology is effective and available for solving FFSR trajectory planning problem. With accomplishing the space robot attitude adjusting mission, the driving torque is reduced to the least, free-floating; space robot; dynamic equation; particle swarm optimization; minimizing torque%针对自由漂浮空间机器人的轨迹规划问题，提出一种基于粒子群优化算法的机械臂关节角驱动力矩最优轨迹规划算法．首先通过对自由漂浮空间机器人系统的动力学方程进行分析，给出了以机械臂关节角驱动力矩为目标函数的轨迹最优控制算法，并采用高阶多项式插值方法逼近机械臂关节角轨迹，结合粒子群优化算法对机械臂关节角轨迹进行优化求解．数值仿真表明，规划出的关节角轨迹平滑连续，在完成自由漂浮空间机器人姿态调整任务的同时，机械臂关节角驱动力矩降至最低．