布谷鸟搜索算法在空间机械臂轨迹规划中的应用研究

Applying Cuckoo Search Algorithm to Path Planning of Space Manipulator

针对自由漂浮状态下的6-DOF(degree of freedom)非完整冗余的空间机械臂系统在轨迹规划时平滑性和稳定性不足的问题,设计了一种改进布谷鸟搜索算法的轨迹规划策略。在空间机械臂一般模型的基础上建立其运动方程,根据基座姿态、机械臂关节角速度以及角加速度的约束条件构建了空间机械臂轨迹规划模型,通过改进布谷鸟搜索算法进行优化,实现轨迹规划的目标。仿真结果表明,在满足机械臂系统受限范围可使得关节的最终状态达到了期望状态,关节轨迹的平滑性得到了改善;并且能较好的克服机械臂运动对基座姿态的干扰,增强了机械臂系统运动的稳定性。

Because a free-floating 6-DOF nonholonomic redundant space manipulator cannot solve the smoothness and stability problem in path planning,an improved path planning strategy for cuckoo search algorithm is designed.On the basis of the general model of the space manipulator,this paper established the equation of motion according to the base attitude,angular velocity and angular acceleration constraints of a mechanical arm joint.It built the path planning model of the space manipulator to optimize the cuckoo search algorithm,thus achieving the purpose of path planning.The simulation results show that the strategy overcomes the constraints of the manipulator,makes the final state of the space joint reach the desired state and improves the smoothness of the path of the joint and that it can better overcome the interference of the manipulator′s motion on the base attitude and enhance the manipulator′s motion stability.