基于遗传算法的空间自由漂浮机械臂系统运动规划

为了研究空间自由漂浮机械臂系统的运动规划问题,本文将其动力学模型转化为以关节角速度为控制输入变量的非线性控制系统状态方程,确定了以能耗最小为主要目标,同时满足一定约束条件的多种目标函数,提出了运用遗传算法求解最优控制变量的运动规划方法。同时,以机械臂从初始位形运动至指定终端位形的过程为仿真算例,对上述规划算法及其应用进行了分析和验证。仿真结果表明该算法有效可行,能够为机械臂系统的空间操作提供理论参考。

The Motion Planning for Free Flying Space Manipulator Based on Genetic Algorithm

In order to study the motion planning for the free flying space manipulator(FSM) system,an approach based on genetic algorithm is presented in this paper.Firstly,the dynamic model of FSM system is translated into a state equation of nonlinear control system that sets up the joint angular rate as input variable.Then some objective functions are established,which set the least energy cost as the main object and meet the requirements of certain restrictions.Finally,the genetic algorithm is applied to get the optimized control variables for resolving the motion planning problem.Furthermore,the analysis and demonstration of the algorithm are implemented via the simulation of the manipulator moving from the original state to the terminal state.The result demonstrates that the algorithm is viable for the motion planning,and it shows the theoretic significance for the optimized operation of the manipulators.