【摘要】 为改善自由漂浮机械臂对载体姿态无扰的运动规划的收敛性,提出一种基于Gauss伪谱方法和直接打靶法的混合规划策略。首先建立机械臂系统运动规划的数学模型,用Gauss伪谱方法将运动规划问题转化为带约束的非线性参数优化问题,采用遗传算法初步定位全局最优解,然后将得到的解作为直接打靶法的初值,采用序列二次规划算法求出精确最优解,从而利用Gauss伪谱方法计算量小、直接打靶法精度高的特点,快速获得机械臂对载体姿态无扰的运动规律。数值仿真的结果表明该混合规划策略能够快速求解机械臂系统的无扰运动规划问题,且具有较好的收敛性与鲁棒性。更多还原

【Abstract】 In order to improve the convergence of motion planning of a free floating manipulator system for zero-disturbance spacecraft attitude,a hybrid programming strategy based on Gauss Pseudo-spectral Method(GPM) and Direct Shooting Method(DSM) is put forward.Firstly,the model of motion planning of manipulator system is established.The motion planning problem is transformed into a non-linear parameter optimization problem by using GPM.The global approximate optimums are located by using a Genetic Algorithm.Then the approximate optimums are regarded as initial value for DSM.The accurate optimums are obtained by using Sequential Quadratic Programming.Consequently,expected trajectories of joints are quickly obtained owing to respective characteristics of GPM and DSM.The numerical simulation results indicate that the method is effective and stable.更多还原