OPTIMAL TRAJECTORY PLANNING OF FLEXIBLE SPACE ROBOT FOR VIBRATION REDUCING

摘要

An original exciting force index can describe vibration of flexible space robot is proposed for the first time. The exciting force index can be calculated directly by the trajectory. Then a trajectory planning algorithms of flexible space robot for vibration reducing is proposed. Describing trajectory with fourth order quasi uniform B spline, the planning algorithms can be realized by using a proved Particle Swarm Optimization method to calculate the control point parameter of B spline. The planning efficiency is extremely improved by replacing the control result with exciting froce index to judge an undetermined trajectory. A simulation on a flexible dual arm space robot that contrasted an optimized trajectory with a simple cubic polynomial one and got much less vibration has shown the effectiveness of the algorithms.