Abstract
A typical servicing operation in space mainly includes three phases: capturing the target, re-orientating of the whole system with the target, and repairing the target. A method is proposed to achieve re-orientating the space robot system, planning the manipulator configuration and spacecraft orientation at the same time. Firstly, angular momentum preloaded in the manipulator will provide a favorable condition for the capturing and reorientation after capturing, so the manipulator moves with some initial velocity after capturing. The constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectories are parameterized by using sinusoidal polynomials functions and the cost function is proposed according to the accuracy requirements. Finally, Particle Swarm Optimization (PSO) is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. The simulation results show that this method is better than other approaches both in convergence rate and accuracy and the joints trajectories are very smooth and suitable for control.
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Hu, S., He, P., Dong, Z., Cui, H., Liang, S. (2017). Trajectory Planning of Space Robot System for Reorientation After Capturing Target Based on Particle Swarm Optimization Algorithm. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_64
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DOI: https://doi.org/10.1007/978-3-319-65298-6_64
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