多目标融合的冗余空间机械臂碰前轨迹优化

面向在轨对接与装配任务，提出了多目标融合的冗余度空间机械臂碰前轨迹优化方法。通过分析任务特点，阐述了空间机械臂碰前的多重任务目标。针对由空间机械臂连续轨迹跟踪、碰撞姿态控制及碰撞冲量幅值优化三个目标组成的第一类任务，通过设置任务优先级融合多目标并采用基于主任务零空间的方法实现对碰前轨迹的优化；而对由空间机械臂点到点规划、碰撞姿态控制及碰撞冲量幅值优化三个目标组成的第二类任务，通过设置任务权重将多目标融合并采用遗传算法对碰前轨迹进行优化。以典型七自由度机械臂为例开展仿真实验，验证了提出的轨迹优化方法的有效性。

Pre Impact Trajectory Optimization of Redundant Space Manipulatorwith Multi Target Fusion

Oriented to on orbit docking and assembly task, methods for pre impact trajectory optimization of redundant space manipulator with multi targets fusion are proposed in this paper. Through the analysis of task characteristics, multi targets before impact are presented. For the first kind of task composed of trajectory tracking, impact attitude control and impact impulse optimization, multi targets are fused by setting the task priority. And the pre impact trajectory is optimized by using the method based on null space of primary task. For the second kind of task consisted of point to point manoeuvre, impact attitude control and impact impulse optimization, A genetic algorithm is employed to optimize the pre impact trajectory after integrating multi targets by setting task weight. Take the typical 7 dof space manipulator as an example to carry out simulation experiment, results verify the effectiveness of proposed methods.