کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8056597 1519942 2015 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Trajectory planning of free-floating space robot using Particle Swarm Optimization (PSO)
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Trajectory planning of free-floating space robot using Particle Swarm Optimization (PSO)
چکیده انگلیسی
This paper investigates the application of Particle Swarm Optimization (PSO) strategy to trajectory planning of the kinematically redundant space robot in free-floating mode. Due to the path dependent dynamic singularities, the volume of available workspace of the space robot is limited and enormous joint velocities are required when such singularities are met. In order to overcome this effect, the direct kinematics equations in conjunction with PSO are employed for trajectory planning of free-floating space robot. The joint trajectories are parametrized with the Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) redundant manipulator mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Astronautica - Volume 112, July–August 2015, Pages 77-88
نویسندگان
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