基于多目标粒子群优化算法的自由漂浮空间机器人负载最大化轨迹优化

doi:10.13973/j.cnki.robot.2014.0402

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (731 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
刘勇, 贾庆轩, 陈钢, 孙汉旭. 基于多目标粒子群优化算法的自由漂浮空间机器人负载最大化轨迹优化[J]. 机器人, 2014, 36(4): 402-410.DOI: 10.13973/j.cnki.robot.2014.0402. LIU Yong, JIA Qingxuan, CHEN Gang, SUN Hanxu. Load Maximization Trajectory Optimization for Free-Floating Space Robot Using Multi-objective. ROBOT, 2014, 36(4): 402-410. DOI: 10.13973/j.cnki.robot.2014.0402.

摘要

为了有效提升自由漂浮空间机器人的负载能力，提出一种基于多目标粒子群优化（multi-objectiveparticle swarm optimization，MOPSO）算法的多约束多目标轨迹优化方法．结合建立的负载操作模式下空间机器人系统动力学模型，将负载最大化问题转化为实现关节力矩、基座扰动和系统能量同时最小的多目标轨迹优化问题；建立了相应的多目标优化问题（multi-objective optimization problem，MOP）数学模型；基于MOPSO 算法求解出满足负载最大化要求的Pareto 最优解集，并在算法中对约束条件进行了有效的处理．通过仿真实验证明了所提方法的有效性．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	刘勇
	贾庆轩
	陈钢
	孙汉旭

关键词 ：空间机器人, 负载最大化, 多目标轨迹优化, 多目标粒子群优化（MOPSO）

Abstract：

In order to effectively increase the load carrying capacity of free-floating space robot, a multi-constrained multi-objective trajectory optimization method based on MOPSO (multi-objective particle swarm optimization) algorithm is proposed. Combined with the established dynamics model of space robot system under load carrying condition, load maximization is transformed into the multi-constrained multi-objective trajectory planning problem which simultaneously satisfy minimization of joint torque, base disturbances and system energy. The corresponding mathematical model of MOP (multi-objective optimization problem) is established. The Pareto solution set meeting the requirements of load maximization is solved by MOPSO algorithm which tackles constraint conditions effectively. By simulation, the availiablity of this method is proved.

Key words： space robot load maximization multi-objective trajectory optimization MOPSO (multi-objective particle swarm optimization)

收稿日期: 2013-10-29 录用日期: 2014-04-10

TP242

基金资助:

国家自然科学基金资助项目（61175080）；国家973计划资助项目（2013CB733000）；教育部高等学校博士学科点专项科研基金资助项目（20120005120004）；中央高校基本科研业务费专项资金资助项目（2013PTB-00-01）．

通讯作者: 刘勇，buptly@126.com E-mail: buptly@126.com

作者简介: 刘勇（1986-），男，博士生．研究领域：空间机器人技术，机器人控制技术．
贾庆轩（1964-），男，博士，教授．研究领域：空间机器人技术，虚拟现实技术．
陈钢（1982-），男，博士，讲师．研究领域：空间机器人技术，机器人控制技术．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0402 或 https://robot.sia.cn/CN/Y2014/V36/I4/402

[1] Coleshill E, Oshinowo L, Rembala, et al. Dextre: Improving maintenance operations on the international space station[J]. Acta Asronautica, 2009, 64(9/10): 869-874.

[2] Yoshida K. Space robot dynamics and control: To orbit, from orbit, and future[C]//Robotics Research-International Symposium. Berlin, Germany: Springer-Verlag, 2000: 449-456.

[3] 梁斌,杜晓东,李成,等.空间机器人非合作航天器在轨服务研究进展[J].机器人,2012,34(2):242-256.Liang B, Du X D, Li C, et al. Advances in space robot on-orbit servicing for non-cooperative spacecraft[J]. Robot, 2012, 34(2): 242-256.

[4] Korayem M H, Ghariblu H. Maximum allowable load on wheeled mobile manipulators imposing redundancy constraints[J]. Robotics and Autonomous Systems, 2003, 44(2): 151-159.

[5] Crane C D, Duffy J. A dynamic analysis of a spatial manipulator to determine payload weight[J]. Journal of Robotic Systems, 2003, 20(7): 355-371.

[6] Korayem M H, Alamdari A, Haghighi R, et al. Determining maximum load-carrying capacity of robots using adaptive robust neural controller[J]. Robotica, 2011, 28(7): 1083-1093.

[7] Korayem M H, Nikoobin A, Azimirad V. Maximum load carrying capacity of mobile manipulators: Optimal control approach[J]. Robotica, 2009, 27(1): 147-159.

[8] Heavy payload[J]. Journal of Dynamic Systems, Measurement, and Control, 2010, 132(5): 1-8.

[9] Aghili F, Namvar M. Scaling inertia properties of a manipulator payload for 0-g emulation of spacecraft[J]. International Journal of Robotics Research, 2009, 28(7): 883-894.

[10] Wang C Q, Wu P F, Zhou X, et al. Composite sliding mode control for a free-floating space rigid-flexible coupling manipulator system[J]. International Journal of Advanced Robotic Systems, 2013, 10: 1-10.

[11] Korayem M H, Nikoobin A. Maximum payload path planning for redundant manipulator using indirect solution of optimal control problem[J]. The International Journal of Advanced Manufacturing Technology, 2009, 44(7/8): 725-736.

[12] Saravanan R, Ramabalan S, Balamurugan C. Evolutionary optimal trajectory planning for industrial robot with payload constraints[J]. The International Journal of Advanced Manufacturing Technology, 2008, 38(11/12): 1213-1226.

[13] Wang C Y E, Timoszyk W K, Bobrow J E. Payload maximization for open chained manipulators: Finding weightlifting motions for a Puma 762 robot[J]. IEEE Transactions on Robotics and Automation, 2001, 17(2): 218-224.

[14] Jia Q X, Liu Y, Chen G, et al. Maximum load path planning for space manipulator in point-to-point task[C]//8th IEEE Conference on Industrial Electronics and Applications. Piscataway, USA: IEEE, 2013: 988-993.

[15] Huang P F, Liu G, Yuan J P, et al. Multi-objective optimal trajectory planning of space robot using particle swarm optimization [M]//Advances in Neural Networks. Berlin, Germany: Springer-Verlag, 2008: 171-179.

[16] 吴剑威,史士财,刘宏,等.空间机器人目标捕获过程中的载体姿态扰动优化[J].机器人,2011,33(1):16-21.Wu J W, Shi S C, Liu H, et al. Spacecraft attitude disturbance optimization of space robot in target capturing process[J]. Robot, 2011, 33(1): 16-21.

[17] Gong D, Zhang J, Zhang Y. Multi-objective particle swarm optimization for robot path planning in environment with danger sources[J]. Journal of Computers, 2011, 6(8): 1554-1561.

[18] Masehian E, Sedighizadeh D. Multi-objective robot motion planning using a particle swarm optimization model[J]. Journal of Zhejiang University: Science C, 2010, 11(8): 607-619.

[19] Pires E J S, de Moura Oliveira P B, Machado J A T. Multi-objective genetic manipulator trajectory planner[M]// Applications of Evolutionary Computing. Berlin, Germany: Springer-Verlag, 2004: 219-229.

[20] Xu Y, Shum H Y. Dynamic control and coupling of a free-flying space robot system[J]. Journal of Robotic Systems, 1994, 11(7): 573-589.

[21] Wang L T, Ravani B. Dynamic load carrying capacity of mechanical manipulators-Part I: Problem formulation[J]. Journal of Dynamic Systems Measurement and Control, 1988, 110(1): 46-52.

[22] Coello C A C, Pulido G T, Lechuga M S. Handling multiple objectives with particle swarm optimization[J]. IEEE Transactions on Evolutionary Computation, 2004, 8(3): 256-279.

[23] 王明,黄攀峰,刘正雄,等.自由漂浮空间机器人最小基座反作用轨迹规划[J].宇航学报,2011,32(10):2152-2157.Wang M, Huang P F, Liu Z X, et al. Trajectory planning for minimizing base reaction of free-floating space robot[J]. Journal of Astronautics, 2011, 32(10): 2152-2157.

[24] Knowles J D, Corne D W. Approximating the nondominated front using the Pareto archived evolution strategy[J]. Evolutionary Computation, 2000, 8(2): 149-172.