Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance | Zendy

Qiang Zhang | Zendy; Lan Wang | Zendy; Dongsheng Zhou | Zendy

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Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

Author(s) -

Qiang Zhang,

Lan Wang,

Dongsheng Zhou

Publication year - 2016

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/62123

Subject(s) - control theory (sociology) , computer science , parameterized complexity , simulated annealing , kinematics , trajectory , particle swarm optimization , base (topology) , motion planning , parallel manipulator , manipulator (device) , robot , mathematics , algorithm , artificial intelligence , control (management) , physics , mathematical analysis , classical mechanics , astronomy

In the free-floating mode, there is intense dynamic coupling existing between the space manipulator and the base, and the base attitude may change while performing a motion with its manipulator. Therefore, it is necessary to reduce the interference that resulted from the manipulator movement. For planning trajectories of the space manipulator with 7 degrees of freedom (7-DOF), simulated annealing particle swarm optimization (SAPSO) algorithm is presented in the paper. Firstly, kinematics equations are setup. Secondly, the joint functions are parameterized by sinusoidal functions, and the objective function is defined according to the motion constraints of manipulator and accuracy requirements of the base attitude. Finally, SAPSO algorithm is used to search the optimal trajectory. The simulation results verify the proposed method

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