宇航学报

宇航学报 ›› 2016, Vol. 37 ›› Issue (7): 784-794.doi: 10.3873/j.issn.1000-1328.2016.07.004

• 飞行器设计与力学 • 上一篇    下一篇

考虑在轨运动可靠性的空间机械臂关节力矩优化方法

高欣，杜明涛，吴昊鑫，孙汉旭，贾庆轩，陈钢，王一帆   

  1. 北京邮电大学空间机器人技术教育部重点实验室，北京100876
  • 收稿日期:2015-11-13 修回日期:2016-01-21 出版日期:2016-07-15 发布日期:2016-07-25
  • 基金资助:

    国家“973”计划资助项目（2013CB73300）；国家自然科学基金（61573066）；国家“863”计划资助项目（2015AA7091008）

A Joint Torque Optimization Method for Space Manipulators Considering the In Orbit Motion Reliability

GAO Xin, DU Ming tao, WU Hao xin, SUN Han xu, JIA Qing xuan, CHEN Gang，WANG Yi fan   

  1. Key Laboratory of Space Robotics Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2015-11-13 Revised:2016-01-21 Online:2016-07-15 Published:2016-07-25

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摘要：

提出一种考虑在轨运动可靠性的冗余度空间机械臂关节力矩优化方法。首先将机械臂操作空间中点到点的转移任务从笛卡尔空间转换至关节空间，利用七次多项式插值法对各关节变量进行参数化处理，获得粒子群算法的优化控制参数；与传统路径规划方法不同，将机械臂各关节力矩的均值和最小作为粒子群算法优化求解的目标函数；依据该目标函数以及相应优化控制参数，利用粒子群算法对空间机械臂运行轨迹进行优化求解，得到机械臂关节力矩均值和最小的运行路径。仿真实验表明，相比传统路径规划方法及以关节力矩二范数为目标函数的关节力矩优化方法，在降低冗余度空间机械臂关节力矩均值方面，文中方法分别减小了33.57%和10.47%；在降低关节力矩最大值方面，分别减小了43.25%和6.19%。

关键词: 冗余度空间机械臂, 关节力矩优化, 关节力矩均值和最小, 粒子群算法

Abstract:

A joint torque optimization method for space manipulators considering the motion in-orbit reliability is presented. Firstly, the point-to-point transfer task within the operating space is converted from Cartesian space into joint space. Each joint variable is parameterized by seven-order polynomial interpolation, and the optimal control parameters of particle swarm optimization (PSO) are obtained. Different from other traditional path planning methods, the objective function of PSO is to minimize the sum of mean value of each joint torque for the manipulator. Finally, PSO is used to optimize the motion path of space manipulator by using the objective function and the corresponding optimal control parameters, and the motion path which has a minimum sum of mean value of each joint torque is obtained. Simulation results demonstrate that, compared with the traditional path planning method and the joint torque optimization method which use the minimal 2-norm of joint torque as objective function, the mean value of the joint torque for the redundant manipulator is decreased by 33.57% and 10.47% respectively by using the proposed method, and the largest value of joint torque is decreased by 43.25% and 6.19% respectively.

Key words: Redundant space manipulator, Joint torque optimization, Minimum sum of mean value of joint torque, Particle swarm optimization

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