在轨服务飞行器机械臂系统运动规划

Motion planning for the manipulator system of orbital servicing vehicle

为了研究在轨服务飞行器机械臂系统的运动特点,控制和规划其运行轨迹,文中将系统运动守恒模型转化为以关节角速度为控制输入变量的非线性控制系统状态方程,确定以能耗最小为主要目标,同时满足初末位置、角速度等约束条件的多种目标函数,运用实数编码的遗传算法求解最优控制变量.利用机械臂从初始位形运动至指定终端位形的过程为仿真算例,验证了这种规划算法的可行性,同时分析了机械臂系统运动对基座的扰动情况.仿真结果表明,该算法能够用于控制和规划在轨服务飞行器机械臂系统的运行轨迹,为优化OSV的在轨服务操作提供理论参考.

In order to study the motion planning of the manipulator system of orbital servicing vehicle （ OSV）, theconservation law of OSV manipulator system was translated into a state equation of nonlinear control system in whichthe joint angular rate was the input variable. Then, some objective functions were established which set the leastenergy cost as the main object and met the demand of certain restrictions such as original and terminal position andangular velocity. Finally, the real number coding genetic algorithm was applied to get the optimized control varia-bles. The demonstration of this algorithm were brought out via the simulation of the manipulator moving from the o-riginal status to the terminal status, and the disturbance to the base was analyzed as well. The result indicates thatthe algorithm is available and viable for the motion planning of OSV, and has theoretic significance to optimizing theservicing operation of OSV.