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基于甲虫搜索算法的空间机械臂轨迹规划技术研究
Research on Trajectory Planning Technology of Experimental Module Manipulator Based on Beetle Antennae Search Algorithm
【摘要】 针对中国空间站问天实验舱机械臂(EMM)的轨迹规划任务,提出了一种基于甲虫搜索(BAS)算法的轨迹规划技术,使机械臂关节轨迹满足多目标约束的同时,机械臂末端沿预定的任务轨迹运动。基于GJK算法将机械臂本体与周围障碍物的最小距离作为首要优化目标,保证机械臂与障碍物保持安全距离;根据笛卡尔空间中的目标轨迹,基于DH法建立的EMM运动学模型,将机械臂末端与目标轨迹的位置误差作为次级优化目标;为减少机械臂关节磨损,把第3、4、5关节运动行程作为第三个优化目标。采用加权系数法将3个优化目标组成轨迹规划算法的优化模型。实验结果表明:提出的轨迹规划算法具有较快的收敛速度,末端误差曲线变换平缓,精度明显高于粒子群算法的结果。验证了BAS规划出的轨迹能够使机械臂末端在跟踪目标轨迹的同时,机械本体可安全避开空间站舱外的障碍物。
【Abstract】 To ensure that the end effector follow the predefined task trajectory while the manipulator’s joint trajectories satisfy the multi-objective constraints, a trajectory planning technique based on the Beetle Antennae Search(BAS) algorithm was proposed for the trajectory planning task of the Wentian Experimental Module Manipulator(EMM) in China Space Station. Given the complex operational environment in space, the Gilbert-Johnson-Keerthi(GJK) algorithm was used to prioritize maintaining a minimum distance between the manipulator and surrounding obstacles. Based on the EMM’s kinematic model established by the Denavit-Hartenberg(DH) method, the position error between the end effector and the target trajectory in Cartesian space was considered as a secondary optimization objective. To minimize joint wear, the travel ranges of the 3rd, 4th, and 5th joints were included as a tertiary objective. These three objectives were combined into the optimization model using the weighted coefficient method. Experimental results showed that the proposed algorithm had a fast convergence rate, produced smoother error curves, and achieved higher accuracy as compared with the Particle Swarm Optimization(PSO) algorithm. This validated that the BAS-planned trajectory could ensure the end effector to follow the target trajectory while avoiding obstacles, thus ensuring the manipulator’s safe and precise task execution in space.
【Key words】 space robotic arm; trajectory planning; beetle antennae search algorithm; obstacle avoidance; high-precision motion;
- 【文献出处】 载人航天 ,Manned Spaceflight , 编辑部邮箱 ,2024年06期
- 【分类号】V44;TP241;TP18
- 【下载频次】25