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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。
In order to study the motion planning problem of the free-floating space manipulator system, this paper transforms its dynamic model into the state equation of the nonlinear control system with the joint angular velocity as the control input variable. The main objective is to minimize the energy consumption while satisfying some constraints Conditions of a variety of objective function, put forward the use of genetic algorithm to solve the optimal control variables of the motion planning method. At the same time, the process of the robot from the initial position to the specified position of the terminal configuration is a simulation example, and the above algorithm and its application are analyzed and verified. The simulation results show that the algorithm is effective and feasible, which can provide theoretical reference for the space manipulations of manipulator system.