空间大型机械臂系统载运轨迹优化方法

针对在搬运及组装数十吨级负载过程中，空间站用大型机械臂会对空间站载体姿态产生扰动的问题，提出了一种笛卡尔轨迹参数化方法。利用基于广义雅克比矩阵（GJM）的分解运动速度控制和优化算法来实现基座姿态扰动控制，建立了反映载体姿态变化的目标函数。基于关节运动范围及避免动力学奇异等约束，采用粒子群（PSO）算法进行目标函数的优化，有效降低了空间大型机械臂系统在搬运重型负载过程中对载体姿态的影响。仿真结果验证了算法的有效性。

Transporting trajectory optimization method for large space manipulator system

The large space manipulator which is assembled on the space station will bring attitude reactions to the space station in moving or assembling tens of tons objects process. To resolve this problem, a new Cartesian trajectory optimization method was proposed. The attitude disturbance control of base is realized by using the decomposition and velocity control and optimization algorithm based on the Generalized Jacobian Matrix (GJM). An objective function was established for measuring the variation of the space station attitude. Based on the consideration of the joints angle and the influence of dynamic singularity. By using Particle Swarm Optimization (PSO) method for the objective function, the attitude influence on space station was reduced significantly. The validity of the algorithm was verified by simulation results.