Multi-Objective Trajectory Planning of FFSM Carrying a Heavy Payload

Aiming at carrying a heavy payload to a desired pose (including position and orientation), a multi-objective optimization-based approach for maximum-payload trajectory planning of free-floating space manipulators (FFSM) is proposed in this paper. The presented approach corresponds to two typical app...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2015-09, Vol.12 (9)
Main Authors: Liu, Yong, Jia, Qingxuan, Chen, Gang, Sun, Hanxu, Peng, Junjie
Format: Article
Language:English
Subjects:
Algorithms
Bearing strength
Computer simulation
Constraint modelling
Functions (mathematics)
Genetic algorithms
Kinematics
Linear programming
Load carrying capacity
Manipulators
Mathematical analysis
Mathematical models
Multiple objective analysis
Operators (mathematics)
Optimization
Payloads
Planning
Polynomials
Robot arms
Simulation
Trajectories
Trajectory planning
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Summary:Aiming at carrying a heavy payload to a desired pose (including position and orientation), a multi-objective optimization-based approach for maximum-payload trajectory planning of free-floating space manipulators (FFSM) is proposed in this paper. The presented approach corresponds to two typical applications: (i) the manipulator joints attain the desired states; (ii) the inertial pose of the end-effector (pose with respect to the inertial frame) attains the desired values, for which a novel two-stage method is presented. Firstly, for the purpose of reducing computational complexity, dynamics equations are derived using a spatial operator algebra (SOA) method. Secondly, objective functions are defined according to the improvement of load-carrying capacity and pose requirements of the end-effector. Then, the joint trajectories are specified using sinusoidal polynomial functions. Finally, a multi-objective particle optimization (MOPSO) algorithm is employed to obtain a non-dominated solution set, during which process particles that do not satisfy the constraints are eliminated. Simulations are performed for a 7-DOF FFSM, considering three and five objectives for optimization in the two applications, respectively. The results demonstrate that the proposed approach can provide satisfactory joint trajectories and improve load-carrying capacity effectively.
ISSN:1729-8806
1729-8814
DOI:10.5772/61235