AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORS BASE GENETIC ALGORITHM
Xinsheng Ge, Qizhi ZHANG, Yanzhu Liu · Chinese Journal of Space Science · 2000
The problem of nonholonomic motion planning of space manipulator system isdiscussed in this paper. The problem of nonholonomic motion planulng of spacemanipulator is transformed into the optimized colltrol of nonlinear system by usingthe nonholonomic characters of the system. The genetic algorithm is introducedto solve the optimized control problem. Based on genetic algorithm for optimizedcontrol of nonholonomic motion planning of space manipulator is proposed. Theeffectiveness of the method is proved by the numerical simulation examples.