Abstract:

A method based on particle swarm optimizer is presented for the optimization the pre-impact configuration of a dual-arm space robot to minimize the changes of robot’s attitude. The dynamic equations of pre- and post-impact phases are firstly given, then the impact dynamic model is derived based on impulse-momentum equation, the objective function is the change of robot’s angular momentum caused by impacts. By use of the particle swarm optimizer, the pre-impact configure is calculated to minimize the effects of impacts on the robot’s angular momentum. An ideal pre-impact configuration is found. Numerical results show that the proposed method is useful and effective.

Key words: Space robot, Configuration optimization, Particle swarm optimistic algorithm, Impact/contact