Volume 35 Issue 2
Mar.  2015
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Guo Chuangqiang, Ni Fenglei, Liu Hong. Spacecraft attitude disturbance optimization of space robot under multi-position restraint[J]. Chinese Journal of Space Science, 2015, 35(2): 230-236. doi: 10.11728/cjss2015.02.230
Citation: Guo Chuangqiang, Ni Fenglei, Liu Hong. Spacecraft attitude disturbance optimization of space robot under multi-position restraint[J]. Chinese Journal of Space Science, 2015, 35(2): 230-236. doi: 10.11728/cjss2015.02.230

Spacecraft attitude disturbance optimization of space robot under multi-position restraint

doi: 10.11728/cjss2015.02.230
  • Received Date: 2014-04-10
  • Rev Recd Date: 2014-10-30
  • Publish Date: 2015-03-15
  • Optimization design of the path of the space manipulator tip is an economic and efficiency way to reduce the attitude disturbance on the basement arising from the motion of manipulator. However, research on the motion trajectory optimization for space robot under the condition of multi-position restraint in the Cartesian space is rare. In this paper, the motion trajectory was parameterized on the basis of revised cubic spline. Disturbance on the basement arising from the motion of manipulator was expressed by the objective function about the interpolating point of the spline and the migration time between two adjacent restrained positions. The global optimization of the objective function was realized using genetic algorithm. Simulation results indicated that the presented approach can effectively reduce the influence of disturbance on the attitude of basement, which was caused by the motion of manipulator. The designed trace in joint space is twice continuously differentiable.

     

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