Trajectory Planning of Free-floating Space Robot Using an Improved PSO Algorithm

摘要

In order to ensure non-disturbance on the base attitude of the space robot system during the whole operation process of the robot manipulator, this paper proposes an improved Particle Swarm Optimization(PSO) algorithm and uses it to solve the optimal trajectory planning problem of the kinematically redundant space robot in free-floating mode. Firstly, based on the forward kinematics, the joint trajectories are parameterized with polynomial trigonometric function to simplify the calculation. Then, considering the zero-disturbance to the base attitude and the desired pose accuracy of the end-effector, the multi-weighted optimization objective function is established. Thirdly, an improved PSO algorithm with self-adaptively updated control parameters is proposed to find the optimal solution of joint trajectories, with which the optimization objective can be satisfied. Finally, the space robot with seven degrees of freedom(DOF) redundant manipulator is employed for simulation. The simulation results demonstrate the effectiveness of the proposed method.