Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

被引：2
|
作者：
Zhang, Qiang [1 ]
Wang, Lan [1 ]
Zhou, Dongsheng [1 ]
机构：
[1] Key Laboratory of Advanced Design and Intelligent Computing, Ministry of Education, Dalian University, Dalian, China
来源：
International Journal of Advanced Robotic Systems | 2016年 / 13卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Degrees of freedom (mechanics) - Simulated annealing - Robot programming - Robotic arms - Particle swarm optimization (PSO) - Trajectories;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In the free-floating mode, there is intense dynamic coupling existing between the space manipulator and the base, and the base attitude may change while performing a motion with its manipulator. Therefore, it is necessary to reduce the interference that resulted from the manipulator movement. For planning trajectories of the space manipulator with 7 degrees of freedom (7-DOF), simulated annealing particle swarm optimization (SAPSO) algorithm is presented in the paper. Firstly, kinematics equations are setup. Secondly, the joint functions are parameterized by sinusoidal functions, and the objective function is defined according to the motion constraints of manipulator and accuracy requirements of the base attitude. Finally, SAPSO algorithm is used to search the optimal trajectory. The simulation results verify the proposed method. © 2016 Author(s). Licensee InTech.
引用
收藏
相关论文
共 50 条
  • [1] Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance
    Zhang, Qiang
    Wang, Lan
    Zhou, Dongsheng
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2016, 13
  • [2] Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance
    Zhang, Qiang (zhangq30@yahoo.com), 1600, SAGE Publications Inc., United States (13):
  • [3] Cartesian Space Trajectory Planning on 7-DOF Manipulator
    Chen, Diansheng
    Zhang, Benguang
    Wang, Min
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 940 - 945
  • [4] Trajectory Planning to Optimize Base Disturbance of 7-DOF Free-Floating Space Manipulator Based on QPSO
    Hu, Tongtong
    Zhang, Jianxia
    Zhang, Qiang
    MULTI-DISCIPLINARY TRENDS IN ARTIFICIAL INTELLIGENCE, MIWAI 2015, 2015, 9426 : 281 - 293
  • [5] Trajectory Planning and Control of a 7-DOF Robotic Manipulator
    Tsai, Ching-Chih
    Hung, Chi-Chih
    Chang, Chih-Fu
    2014 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND INTELLIGENT SYSTEMS (ARIS 2014), 2014, : 78 - 84
  • [6] An Optimization Algorithm for Trajectory Planning of a 7-Dof Redundant Manipulator
    Lu, Hanchen
    Zhou, Xiaodong
    Li, Rui
    2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2016, : 2016 - 2021
  • [7] Pareto Optimality and Multiobjective Trajectory Planning for a 7-DOF Redundant Manipulator
    Guigue, Alexis
    Ahmadi, Mojtaba
    Langlois, Rob
    Hayes, M. John D.
    IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (06) : 1094 - 1099
  • [8] Inverse Kinematics Analysis of a 7-DOF Space Manipulator for Trajectory Design
    Pengfei Xin
    Jili Rong
    Yongtai Yang
    Dalin Xiang
    Journal of Beijing Institute of Technology, 2017, 26 (03) : 285 - 291
  • [9] Research on trajectory tracking control of 7-DOF picking manipulator
    Cong, Sun
    Liang, Cao
    SCIENCE PROGRESS, 2021, 104 (01)
  • [10] Pre-impact trajectory planning for minimizing base attitude disturbance in space manipulator systems for a capture task
    Zhang Long
    Jia Qingxuan
    Chen Gang
    Sun Hanxu
    CHINESE JOURNAL OF AERONAUTICS, 2015, 28 (04) : 1199 - 1208
12345