带滑移铰空间机械臂的非完整运动规划遗传算法

Nonholonomic Motion Planning of Space Manipulator with Prismatic Joint Using Genetic Algorithm

本文讨论带滑移铰空间机械臂非完整运动规划的最优控制问题。利用系统的非完整特性,将带滑移铰空间机械臂运动规划转化为非线性系统最优控制问题。提出基于遗传算法的非完整运动规划最优控制方法。通过仿真计算,验证了该方法的有效性和可行性。

The optimal planning problem of space manipulator with prismatic joint is discussed in this present paper. Based on the nonholonomic constraints behavior of the system, the motion planning problem of space manipulator with prismatic joint is transformed into the optimal control problem of the nonlinear system. The genetic algorithm of optimal control for nonholonomic motion planning is proposed. The results of numerical simulation show that this approach is effective for the motion planning of space manipulator with prismatic joint.