AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORS BASE GENETIC ALGORITHM
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摘要: 讨论了空间机械臂系统运动规划问题.利用系统的非完整特性,将空间机械臂运动规划转化为非线性系统最优控制问题.在最优控制中引入遗传算法,替代传统的牛顿迭代方法,提出基于遗传优化方法的运动规划最优控制数值算法.通过仿真计算,表明该方法的有效性.Abstract: The problem of nonholonomic motion planning of space manipulator system isdiscussed in this paper. The problem of nonholonomic motion planulng of spacemanipulator is transformed into the optimized colltrol of nonlinear system by usingthe nonholonomic characters of the system. The genetic algorithm is introducedto solve the optimized control problem. Based on genetic algorithm for optimizedcontrol of nonholonomic motion planning of space manipulator is proposed. Theeffectiveness of the method is proved by the numerical simulation examples.
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Key words:
- Space manipulator /
- Motion planning /
- Optimized control /
- Genetic algorithm
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