考虑在轨运动可靠性的空间机械臂关节力矩优化方法

提出一种考虑在轨运动可靠性的冗余度空间机械臂关节力矩优化方法。首先将机械臂操作空间中点到点的转移任务从笛卡尔空间转换至关节空间，利用七次多项式插值法对各关节变量进行参数化处理，获得粒子群算法的优化控制参数；与传统路径规划方法不同，将机械臂各关节力矩的均值和最小作为粒子群算法优化求解的目标函数；依据该目标函数以及相应优化控制参数，利用粒子群算法对空间机械臂运行轨迹进行优化求解，得到机械臂关节力矩均值和最小的运行路径。仿真实验表明，相比传统路径规划方法及以关节力矩二范数为目标函数的关节力矩优化方法，在降低冗余度空间机械臂关节力矩均值方面，文中方法分别减小了33.57%和10.47%；在降低关节力矩最大值方面，分别减小了43.25%和6.19%。

A Joint Torque Optimization Method for Space Manipulators Considering the In Orbit Motion Reliability

A joint torque optimization method for space manipulators considering the motion in-orbit reliability is presented. Firstly, the point-to-point transfer task within the operating space is converted from Cartesian space into joint space. Each joint variable is parameterized by seven-order polynomial interpolation, and the optimal control parameters of particle swarm optimization (PSO) are obtained. Different from other traditional path planning methods, the objective function of PSO is to minimize the sum of mean value of each joint torque for the manipulator. Finally, PSO is used to optimize the motion path of space manipulator by using the objective function and the corresponding optimal control parameters, and the motion path which has a minimum sum of mean value of each joint torque is obtained. Simulation results demonstrate that, compared with the traditional path planning method and the joint torque optimization method which use the minimal 2-norm of joint torque as objective function, the mean value of the joint torque for the redundant manipulator is decreased by 33.57% and 10.47% respectively by using the proposed method, and the largest value of joint torque is decreased by 43.25% and 6.19% respectively.