Volume 25 Issue 3
May  2003
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WU Li-cheng, SUN Fu-chun, SUN Zeng-qi, WU Hao. OPTIMAL TRAJECTORY PLANNING OF FLEXIBLE SPACE ROBOT FOR VIBRATION REDUCING[J]. ROBOT, 2003, 25(3): 250-254.
Citation: WU Li-cheng, SUN Fu-chun, SUN Zeng-qi, WU Hao. OPTIMAL TRAJECTORY PLANNING OF FLEXIBLE SPACE ROBOT FOR VIBRATION REDUCING[J]. ROBOT, 2003, 25(3): 250-254.
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OPTIMAL TRAJECTORY PLANNING OF FLEXIBLE SPACE ROBOT FOR VIBRATION REDUCING

  • State Key Lab of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084

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  • Received Date: November 03, 2002
  • Published Date: May 14, 2003
    Graphical Abstract
    • Abstract
  • 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.
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    • References (9)
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