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Analysis of Load-Carrying Capacity for Redundant Free-Floating Space Manipulators in Trajectory Tracking Task

机译:轨迹跟踪任务中冗余自由浮空间机构负载能力分析

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摘要

The aim of this paper is to analyze load-carrying capacity of redundant free-floating space manipulators (FFSM) in trajectory tracking task. Combined with the analysis of influential factors in load-carrying process, evaluation of maximum load-carrying capacity (MLCC) is described as multiconstrained nonlinear programming problem. An efficient algorithm based on repeated line search within discontinuous feasible region is presented to determine MLCC for a given trajectory of the end-effector and corresponding joint path. Then, considering the influence of MLCC caused by different initial configurations for the starting point of given trajectory, a kind of maximum payload initial configuration planning method is proposed by using PSO algorithm. Simulations are performed for a particular trajectory tracking task of the 7-DOF space manipulator, of which MLCC is evaluated quantitatively. By in-depth research of the simulation results, significant gap between the values of MLCC when using different initial configurations is analyzed, and the discontinuity of allowable load-carrying capacity is illustrated. The proposed analytical method can be taken as theoretical foundation of feasibility analysis, trajectory optimization, and optimal control of trajectory tracking task in on-orbit load-carrying operations.
机译:本文的目的是分析轨迹跟踪任务中冗余自由浮动空间机械手(FFSM)的承载能力。结合载荷过程中有影响因素的分析,最大负载承载能力(MLCC)的评估被描述为多体非线性编程问题。提出了一种基于反复线路搜索的有效算法,以确定用于端效应器和相应的关节路径的给定轨迹的MLCC。然后,考虑到给定轨迹的起始点引起的MLCC的影响,通过使用PSO算法提出了一种最大有效载荷初始配置规划方法。对7-DOF空间机械手的特定轨迹跟踪任务进行模拟,其中定量评估MLCC。通过对模拟结果的深入研究,分析了使用不同初始配置时MLCC值之间的显着间隙,并且示出了允许的承载能力的不连续性。所提出的分析方法可以作为可行性分析,轨迹优化以及在轨道承载运算中的轨迹跟踪任务的最佳控制的理论基础。

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