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针对机械臂运动产生的航天器载体姿态扰动,提出一种基于粒子群优化算法的自由漂浮空间机器人载体姿态扰动最优轨迹规划方案。对系统角动量守恒方程进行分析,给出了载体姿态扰动最优轨迹规划的目标函数。采用高阶多项式逼近机械臂关节角轨迹,将多项式系数作为优化参数。为保证规划算法的收敛性,采用带有收缩因子的粒子群优化算法进行轨迹寻优。仿真结果表明,在完成位姿调整任务的同时,载体姿态扰动得到了有效的抑制,验证了所提方法的有效性。
Aimed at the attitude perturbation of the spacecraft generated by the manipulator movement, a particle swarm optimization algorithm is proposed to optimize the trajectory planning of the vehicle attitude disturbance of a free-floating space robot. The angular momentum conservation equation of the system is analyzed, and the objective function of the optimal trajectory planning of vehicle attitude disturbance is given. The higher order polynomial is used to approach the joint angle trajectory of the manipulator, and the polynomial coefficient is taken as the optimization parameter. In order to ensure the convergence of the proposed algorithm, a particle swarm optimization algorithm with shrinkage factor is used to search the trajectory. The simulation results show that the attitude disturbance of the vehicle is effectively restrained while the attitude adjustment task is completed, which verifies the effectiveness of the proposed method.