期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2016
卷号：9
期号：6
页码：273-282
DOI：10.14257/ijhit.2016.9.6.24
出版社：SERSC
摘要：In order to improve the motion reliability of space manipulator during its long time service on-orbit, multiple indexes which can reflect the motion performance and multiple factors (control variables of manipulator) which have influence on motion reliability are involved in establishing an optimization control model. Thus the problem of motion reliability improvement is expressed as an multiple-objective problem (MOP). In order to solve the MOP, dimension reduction strategy is proposed based on covariance matrix of motion reliability indexes. As a result, the MOP is turned into single objective problem. Then control variables are optimized based on null space of space manipulator, and the best weight matrix can be obtained when the objective is minimal. Simulations are carried out to verify the feasibility and effectiveness of the optimization control strategy. By decreasing the error introduction into the control variables, the motion reliability can be effectively improved
关键词：Space manipulator; Motion reliability; Multi-factor and multi-index
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