期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
DOI：10.5772/61235
语种：English
出版社：SAGE Publications
摘要：Aiming at carrying a heavy payload to a desired pose (including position and orientation), a multi-objective optimization-based approach for maximum-payload trajectory planning of free-floating space manipulators (FFSM) is proposed in this paper. The presented approach corresponds to two typical applications: (i) the manipulator joints attain the desired states; (ii) the inertial pose of the end-effector (pose with respect to the inertial frame) attains the desired values, for which a novel two-stage method is presented. Firstly, for the purpose of reducing computational complexity, dynamics equations are derived using a spatial operator algebra (SOA) method. Secondly, objective functions are defined according to the improvement of load-carrying capacity and pose requirements of the end-effector. Then, the joint trajectories are specified using sinusoidal polynomial functions. Finally, a multi-objective particle optimization (MOPSO) algorithm is employed to obtain a non-dominated solution set, during which process particles that do not satisfy the constraints are eliminated. Simulations are performed for a 7-DOF FFSM, considering three and five objectives for optimization in the two applications, respectively. The results demonstrate that the proposed approach can provide satisfactory joint trajectories and improve load-carrying capacity effectively.
关键词：free-floating space manipulator; multi-objective trajectory planning; maximum payload; MOPSO algorithm
