CAJ | 학술논문

针对自由漂浮状态下的空间机械臂系统，研究了基座姿态扰动最小的轨迹规划问题。首先通过正弦函数参数化机械臂各个关节，在机械臂关节角速度、角加速度以及基座姿态变化范围受限的约束条件下，定义了基座姿态扰动最小的目标函数，然后提出了基于混沌粒子群算法的轨迹优化策略，并给出了具体求解步骤。数值算例结果表明，在满足系统的约束条件下，机械臂关节变化平缓，不存在角速度突变的情况，并且比标准粒子群算法具有更快的收敛速度，在优化轨迹下进行运动仿真，结果表明终止时刻基座姿态扰动为1.3708°(三轴合成)，而梯形规划的姿态扰动为8.5459°，优化后使得姿态的扰动减小84%，从而说明所提出的算法能够有效减小机械臂运动对基座姿态的扰动。
침대자유표부상태하적공간궤계비계통，연구료기좌자태우동최소적궤적규화문제。수선통과정현함수삼수화궤계비각개관절，재궤계비관절각속도、각가속도이급기좌자태변화범위수한적약속조건하，정의료기좌자태우동최소적목표함수，연후제출료기우혼돈입자군산법적궤적우화책략，병급출료구체구해보취。수치산례결과표명，재만족계통적약속조건하，궤계비관절변화평완，불존재각속도돌변적정황，병차비표준입자군산법구유경쾌적수렴속도，재우화궤적하진행운동방진，결과표명종지시각기좌자태우동위1.3708°(삼축합성)，이제형규화적자태우동위8.5459°，우화후사득자태적우동감소84%，종이설명소제출적산법능구유효감소궤계비운동대기좌자태적우동。
A path planning algorithm of free-floating space manipulator is studied in order to obtain minimum disturbance of base attitude caused by manipulator’s movement. The manipulator joints are parameterized by sine function, and the object of base attitude disturbance minimum is given within the limit of joints angular velocity, angular acceleration and base attitude range. After introducing the chaos particle swarm optimization(CPSO) algorithm as the problem solving strategy, the problem’s solving steps are given. Numerical example results show that under the condition of system constraint, the mechanical arm joints change smoothly without angular velocity mutation, and have faster convergence speed than the standard particle swarm optimization(PSO) algorithm. The simulation results obtained under the optimal trajectory show that the base attitude disturbance is 1.3708°(triaxial synthesis) at termination time, which is reduced by more than 84%than the trapezoidal planning attitude disturbance(8.5459°), and this reveals that the proposed algorithm can effectively reduce the base attitude disturbance caused by manipulator’s movement.