AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORS BASE GENETIC ALGORITHM

GE Xinsheng; ZHANG Qizhi; LIU Yanzhu

doi:10.11728/cjss2000.02.185

Volume 20 Issue 2

Apr. 2000

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Article Navigation > Chinese Journal of Space Science > 2000 > 20(2): 185-191

GE Xinsheng, ZHANG Qizhi, LIU Yanzhu. AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORS BASE GENETIC ALGORITHM[J]. Chinese Journal of Space Science, 2000, 20(2): 185-191. doi: 10.11728/cjss2000.02.185

Citation:

GE Xinsheng, ZHANG Qizhi, LIU Yanzhu. AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORS BASE GENETIC ALGORITHM[J]. Chinese Journal of Space Science, 2000, 20(2): 185-191. doi: 10.11728/cjss2000.02.185

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AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORS BASE GENETIC ALGORITHM

doi: 10.11728/cjss2000.02.185 cstr: 32142.14.cjss2000.02.185

1.
Division of Basic Courses, Beijing Institute of Machinery 100085
2.
Department of Engineering Mechanics, Shanghai Jiaotong University

Received Date: 1999-03-15
Rev Recd Date: 2000-02-02
Publish Date: 2000-04-24

Abstract

Abstract

The problem of nonholonomic motion planning of space manipulator system isdiscussed in this paper. The problem of nonholonomic motion planulng of spacemanipulator is transformed into the optimized colltrol of nonlinear system by usingthe nonholonomic characters of the system. The genetic algorithm is introducedto solve the optimized control problem. Based on genetic algorithm for optimizedcontrol of nonholonomic motion planning of space manipulator is proposed. Theeffectiveness of the method is proved by the numerical simulation examples.
- Space manipulator,
- Motion planning,
- Optimized control,
- Genetic algorithm