空间机械臂避障轨迹规划的遗传算法应用

Application of genetic algorithm for Obstacle Avoidance Trajectory Planning of space manipulator

空间机械臂系统往往存在着一些特殊需求,并且在系统运转的过程中出现了一种空间机械臂轨迹规划方法,使得机械臂在遵从样条轨迹运动的时候,能够避开所有的障碍。在这一过程中不仅使用加权系数法进行笛卡儿空间机械臂末端轨迹长度和运动过程中关节最大扭矩等建立,还需使用遗传算法在关节空间下规划满足裕度要求和运动时间较短的理想轨迹。另外,空间机械臂避障轨迹规划的遗传算法应用的时候,其本身的拓展性是比较强的,需要通过多次分解轨迹求取中间点,使机械臂避开障碍,使用这一方式能够在进行C语言建立的空间机械臂仿真平台中实施验证处理,结果显示,这一轨迹能够促使空间机械臂的性能要求得到满足。

The space manipulator system often has some special needs, and in the process of the system operation, a space manipulator trajectory planning method has appeared, so that the manipulator can avoid all obstacles when it follows the trajectory of the spline. In this process, the length of the end track of the Cartesian space manipulator and the maximum torque in the motion process are established by using the weighted coefficient method,the ideal trajectory that meets the requirements of the margin and the short motion time in the joint space. In addition, when the genetic algorithm of Obstacle Avoidance Trajectory Planning of space manipulator is applied, its own expansion is relatively strong. It is necessary to get the middle point through multiple decomposition trajectories to avoid the obstacle. In this way, the verification processing can be carried out in the space manipulator simulation platform established by the C language, and the result is obvious. It is shown that this trajectory can satisfy the performance requirements of space manipulator.