Maximum load path planning for space manipulator in point-to-point task

Author

Qingxuan Jia ; Yong Liu ; Gang Chen ; Hanxu Sun

Author_Institution

Sch. of Autom., Beijing Univ. of Posts & Telecommun. BUPT, Beijing, China

fYear

2013

fDate

19-21 June 2013

Firstpage

988

Lastpage

993

Abstract

In this paper, the movement coupling between manipulator and spacecraft is proposed. The dynamic equations of space manipulator are established efficiently by the spatial operator algebra method. The functions of the joint variable are parameterized by polynomial interpolation method and objective function for maximum load carrying capacity is developed. In considering multiple constraints, maximum load path planning for space manipulator is achieved based on genetic algorithm. Simulations are performed in order to illustrate the effectiveness of the algorithm for a 7-DOF space manipulator in point-to-point task.

Keywords

aerospace robotics; genetic algorithms; interpolation; manipulator dynamics; path planning; polynomials; space vehicles; 7-DOF space manipulator; genetic algorithm; joint variable functions; maximum load carrying capacity; maximum load path planning; objective function; point-to-point task; polynomial interpolation method; space manipulator dynamic equations; spacecraft; spatial operator algebra method; Angular velocity; Joints; Manipulator dynamics; Mathematical model; Polynomials; Torque; maximum load; point-to-point task; space manipulator; spatial operator algebra method;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on

Conference_Location

Melbourne, VIC

Print_ISBN

978-1-4673-6320-4

Type

conf

DOI

10.1109/ICIEA.2013.6566511

Filename

6566511