| 自由漂浮双臂空间机器人基于遗传算法的最优运动规划 |
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| 引用本文： | 唐晓腾.自由漂浮双臂空间机器人基于遗传算法的最优运动规划[J].闽江学院学报,2009,30(5):44-48. |
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| 作者姓名： | 唐晓腾 |
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| 作者单位： | 闽江学院汽车系,福建福州350108 |
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| 基金项目： | 国家自然科学基金资助项目，福建省自然科学基金资助项目 |
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| 摘 要： | 以多刚体动力学理论为基础,推导了自由漂浮状态双臂空间机器人系统的动量矩守恒关系,转化为系统状态方程;结合基于实数编码的遗传算法实现了双臂空间机器人姿态、关节协调运动的近似最优控制算法.通过控制双臂空间机器人的关节运动,可以同时获得载体姿态及机械臂关节期望的终了位置.仿真算例验证了算法的有效性.
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| 关 键 词： | 空间机器人系统 姿态调整运动 最优控制规划 遗传算法 |
GA based optimal planning for free-floating space robot system with dual-arms |
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| TANG Xiao-teng.GA based optimal planning for free-floating space robot system with dual-arms[J].Journal of Minjiang University,2009,30(5):44-48. |
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| Authors: | TANG Xiao-teng |
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| Institution: | TANG Xiao-teng(Department of Automotive Engineering,Minjiang University,Fuzhou,Fujian 350108,China) |
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| Abstract: | According to multibody theory,under the linear and angular momentum conservations of the space robot system,the free-floating robot system with dual-arms system equation is established.A real-code GA based approximate optimal control scheme for the proposed system is developed.This proposed method possesses the advantages that it can achieve the desired angles of the base's attitude and arms' joints only by controlling the arms' joints motion.The simulation result confirms the validity proposed approach. |
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| Keywords: | space robot system attitude control optimal motion planning genetic algorithm |
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