摘要
为研究双臂自由漂浮空间机器人(FFSR)的姿态规划,建立双臂FFSR的运动学几何模型,引入描述机械臂与本体之间耦合关系的广义雅可比矩阵,提出以对FFSR本体姿态影响最小为优化目标,利用遗传算法求解双臂FFSR协调的姿态规划方法.仿真结果表明,该方法具有精度高、通用性强等优点.
In order to study the attitude planning of dual-arm free floating space robots(FFSR), this paper first gives the kinematics geometry model of dual-arm FFSR, and then introduces generalized Jacobian matrix to describe the coupled relationship between robot arms and its body. The attitude planning of dual-arm FFSR is studied by using Genetic Algorithm, in which the least configuration influence of robot body is set to be the optimized goal. Simulation results show the algorithom has the advantages of high accuracy and universality.
出处
《大庆石油学院学报》
CAS
北大核心
2008年第3期77-80,138,共4页
Journal of Daqing Petroleum Institute
基金
黑龙江省自然科学基金资助项目(F2007-03)
黑龙江省教育厅科研项目(11511018)
关键词
FFSR
遗传算法
协调
姿态规划
free floating space robot
genetic algorithm
coordination
attitude planning
