| Author Name | Affiliation | | Zhiqiang Xu | Norinco Group Air Ammunition Research Institute Co., Ltd., Harbin 150030, China | | Xiangxin Zeng | Norinco Group Air Ammunition Research Institute Co., Ltd., Harbin 150030, China | | Jinghui Li | Norinco Group Air Ammunition Research Institute Co., Ltd., Harbin 150030, China | | Zhaoyan Jia | Norinco Group Air Ammunition Research Institute Co., Ltd., Harbin 150030, China |
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| Abstract: |
| For the problem of free-floating space robot (FFSR) that the motion of manipulator will cause a large disturbance to the attitude of satellite, a path planning method based on hp-adaptive Gauss pseudospectral method (hp-AGPM) is proposed in this paper. In this method, the minimum reaction torque acting on satellite is taken as the objective function, and the number of segments and the order of polynomial in each segment are determined adaptively to improve the accuracy and the efficiency of the solution. At the same time, the theoretical convergence of the designed method is innovatively proved to ensure that the solution of the discretized nonlinear programming (NLP) problem is the optimal solution to the original optimal problem. The simulation results of a planar two degree-of-freedom (2-DOF) space manipulator show that the proposed path planning method is more effective than the resolved acceleration control (RAC) method and the control variable parameterization (CVP) method, and is better than other pseudospectral methods both in computation speed and the number of collocation points. |
| Key words: free-floating space robot hp-adaptive Gauss pseudospectral method path planning nonlinear programming |
| DOI：10.11916/j.issn.1005-9113.21007 |
| Clc Number:TP24 |
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| Descriptions in Chinese: |
| 卫星本体最小扰动的空间机械臂最优轨迹规划 徐智强，曾祥鑫，李景慧，贾兆岩 （中国兵器工业集团航空弹药研究院有限公司，哈尔滨150030） 摘要：针对自由漂浮空间机器人机械臂的运动过程会对卫星本体姿态产生较大扰动的问题，本文提出基于hp-自适应高斯伪谱法的路径规划方法。该方法以卫星本体的最小反作用力矩为目标函数，自适应地确定每段的分段数和多项式阶数，以此来提高求解精度和求解效率。同时，创新性地证明了所设计方法的理论收敛性，保证了离散化非线性规划问题的解是原优化问题的最优解。对平面二自由度空间机械臂的仿真结果表明，该方法比分解加速度控制（RAC）方法和控制变量参数化（CVP）方法更有效，并且在计算速度和配点数量上都优于其他伪谱方法。 关键词：自由漂浮空间机器人；hp-自适应高斯伪谱法；路径规划；非线性规划 |
