Path Optimization of Free-floating Space Robot Based on Adaptive Genetic Algorithm

DOI

10.2991/ic3me-15.2015.207How to use a DOI?

Keywords

free-flying space robot; Adaptive Genetic Algorithm; joint space; path optimization

Abstract

In the free-floating mode, dynamic coupling exists between the manipulators and the spacecraft base of space robot, and the base attitude and position are easily disturbed by the motions of the manipulators. In this paper, firstly, the angular momentum conservation equation is analyzed. Then, the objective function is defined according to the change of the base attitude. Finally, the joint path is parameterized by using a cosine function and the coefficients of the cosine function are set as optimization parameters. Considering the Standard Genetic Algorithm is easily premature and has slow convergent speed, Adaptive Genetic Algorithm is adopted in this paper to search the optimal parameters. Simulation results show that the obtained joint path is smooth, the angular velocity has no sudden change and the base disturbance meets the demand, which prove the effectiveness of this method.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Junjie Zhang
AU  - Shidong Yao
AU  - Bo Peng
AU  - Qingli Zhang
AU  - Tao Zhang
PY  - 2015/08
DA  - 2015/08
TI  - Path Optimization of Free-floating Space Robot Based on Adaptive Genetic Algorithm
BT  - Proceedings of the 3rd International Conference on Material, Mechanical and Manufacturing Engineering
PB  - Atlantis Press
SP  - 1070
EP  - 1077
SN  - 2352-5401
UR  - https://doi.org/10.2991/ic3me-15.2015.207
DO  - 10.2991/ic3me-15.2015.207
ID  - Zhang2015/08
ER  -