Path planning algorithm of space manipulator based on chaos particle swarm optimization algorithm
Xia Hong-we · Journal of Chinese Inertial Technology · 2014
A path planning algorithm of free-floating space manipulator is studied in order to obtain minimum disturbance of base attitude caused by manipulator's movement. The manipulator joints are parameterized by sine function, and the object of base attitude disturbance minimum is given within the limit of joints angular velocity, angular acceleration and base attitude range. After introducing the chaos particle swarm optimization(CPSO) algorithm as the problem solving strategy, the problem's solving steps are given. Numerical example results show that under the condition of system constraint, the mechanical arm joints change smoothly without angular velocity mutation, and have faster convergence speed than the standard particle swarm optimization(PSO) algorithm. The simulation results obtained under the optimal trajectory show that the base attitude disturbance is 1.3708°(triaxial synthesis) at termination time, which is reduced by more than 84% than the trapezoidal planning attitude disturbance(8.5459°), and this reveals that the proposed algorithm can effectively reduce the base attitude disturbance caused by manipulator's movement.