空间机械臂非完整运动规划的遗传算法研究

Nonholonomic Motion Planning of a Space Manipulator System Using Genetic Algorithm

带空间机械臂航天器系统在无外力矩作用时,系统相对于总质心的动量矩守恒而变为非完整系统。由于非完整约束的不可积性,非完整系统的运动规划与控制比一般系统要困难得多。现利用非完整特性研究了自由漂浮空间机械臂的三维姿态运动控制问题。首先导出带空间机械臂的航天器三维姿态运动数学模型,并将系统的控制问题转化为无漂移系统的非完整运动规划问题。在运动规划中,根据最优控制原理和优化理论,提出基于遗传算法的最优运动规划数值算法。通过数值仿真,表明该方法对空间机械臂及航天器三维姿态运动的非完整运动规划是有效的。

In this paper the three-dimensional attitude control problem of the floating space manipulator was investigated in terms of the nonholonomic characteristic. A torque-free spacecraft system with space manipulators becomes a nonholonomic system which is subject to the fundamental constraints of the conservation of angular momentum principle. Due to the nonholonomic characteristic, the motion planning and control of a nonholonomic system is much more difficult than that of a conventional one. In this paper, the attitude control model of rigid spacecraft with space manipulators was given at first. Then the attitude control problem of the spacecraft was converted to a motion planning problem of a drift free control system. At last, based on the optimal nonholonomic motion planning, a genetic algorithm for the free floating space manipulator system was proposed. The results of numerical simulation indicate that the approach is effective for the motion planning problem of floating space manipulator system.