多目标位姿约束下空间机器人载体姿态扰动优化

Spacecraft Attitude Disturbance Optimization of Space Robot under Multi-position Restraint

通过运行轨迹的优化设计来减小空间机械臂运动对其基座姿态产生的扰动影响是一种经济有效的方式,然而针对笛卡儿空间内多个离散位姿约束条件下空间机械臂运动轨迹的优化设计研究相对较少.通过改进样条函数对机械臂末端运行轨迹进行参数化设计,将基座姿态的扰动量表达为关于样条函数控制点与相邻约束点之间运行时间的目标函数,利用遗传算法对目标函数进行全局优化处理,完成空间机械臂运行轨迹的优化设计.仿真结果表明,该方法能有效降低机械臂运动对基座姿态产生的扰动,并且规划的关节运动轨迹二次连续可微.

Optimization design of the path of the space manipulator tip is an economic and efficiency way to reduce the attitude disturbance on the basement arising from the motion of manipulator.However,research on the motion trajectory optimization for space robot under the condition of multi-position restraint in the Cartesian space is rare.In this paper,the motion trajectory was parameterized on the basis of revised cubic spline.Disturbance on the basement arising from the motion of manipulator was expressed by the objective function about the interpolating point of the spline and the migration time between two adjacent restrained positions.The global optimization of the objective function was realized using genetic algorithm.Simulation results indicated that the presented approach can effectively reduce the influence of disturbance on the attitude of basement,which was caused by the motion of manipulator.The designed trace in joint space is twice continuously differentiable.