Title :
Path planning for minimizing base reaction of space robot and its ground experimental study
Author :
Wu, Jianwei ; Shi, Shicai ; Wang, Bin ; Jiang, Zainan ; Liu, Hong
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint motion. This parameterization method can satisfy the kinematical constraints. The optimal object of base reaction is computed by inverse dynamics. In order to limit the joint velocity, an objective function including the constraint of joint velocity is defined. Genetic algorithm is introduced to solve the optimized problem, and the parameters for the minimum objective function value are found. The path planned is very smooth, and it can be applied in practical. According to the experiment on the zero gravity system, the effectiveness of the algorithm is proved.
Keywords :
aerospace robotics; angular velocity control; attitude control; genetic algorithms; manipulator dynamics; manipulator kinematics; minimisation; motion control; path planning; base reaction minimization; free-flying space robotic system; genetic algorithm; inverse dynamics; joint motion parameter; joint velocity; kinematical constraints; manipulator; objective function; point-to-point path planning method; polynomial function; robot base attitude; sinusoidal function; thruster jets; Equations; Fuels; Genetic algorithms; Manipulator dynamics; Orbital robotics; Path planning; Robotics and automation; Satellites; Space stations; Space technology; Base Reaction; Genetic Algorithm; Path planning; Space robot;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5244791