MULTI-GOAL TRAJECTORY PLANNING FOR REDUNDANT SPACE ROBOT

被引：0
|
作者：
Zhao, Suping [1 ]
Zhu, Zhanxia [1 ]
Siciliano, Bruno [2 ]
Gutierrez-Giles, Alejandro [3 ]
Feng, Jing Lang [4 ]
Luo, Jianjun [1 ]
机构：
[1] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, 127 Youyi West Rd, Xian 710072, Shaanxi, Peoples R China
[2] Univ Naples Federico II, Dept Elect Engn & Informat Technol, Via Claudio 21, I-80125 Naples, Italy
[3] Univ Naples Federico II, Consortium CREATE, Via Claudio 21, I-80125 Naples, Italy
[4] Nanjing Univ, Sch Astron & Space Sci, 163 Xianlin Rd, Nanjing 210023, Jiangsu, Peoples R China
来源：
SPACEFLIGHT MECHANICS 2017, PTS I - IV | 2017年 / 160卷
关键词：
OPTIMALITY CONDITIONS; ALGORITHM;
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
The multi-goal trajectory planning problem (MTPP) for redundant space robots is studied in the paper. The robot's end-effector should go through several waypoints with minimum distance, while the sequence of the waypoints is not predefined. The problem is converted into a bilevel optimization problem. The aim of the first level is to search for an optimal path that passes through the predefined waypoints. Based on the optimal path got in the first level, the aim of the second level is to search for the appropriate joint movements. A two-layer-based heuristic algorithm is employed to solve the bilevel optimization problem.
引用
收藏
页码：1503 / 1514
页数：12
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