基于自适应遗传算法的双臂空间机器人姿态调整最优规划.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 基于自适应遗传算法的双臂空间机器人 姿态调整最优规划 唐晓腾，陈 力 福州大学 机械工程及自动化学院, 福州 350002 E-mail: Tang_xt @163.com, Chnle@ 摘 要: 本文讨论了双臂空间机器人系统姿态调整运动基于自适应遗传算法的最优控制规划问题。以多体动力学 理论为基础，导出了载体位置、姿态均不受控制情况下，双臂空间机器人系统的动量矩守恒关系，并将其转化 为系统状态方程；由此，空间机器人的姿态调整运动的非完整运动规划问题就转换为非线性控制问题。利用近 似优化的方法，采用自适应遗传算法进行求解，实现了一种双臂空间机器人姿态、关节协调运动的近似最优控 制算法。其优点在于，仅需要控制双臂空间机器人的关节运动，即可同时获得载体姿态及机械臂关节需要的终 了位置。通过对一个平面双臂空间机器人系统进行的数值仿真验证了算法的有效性。 关键词: 双臂空间机器人系统, 姿态调整运动, 最优控制规划, 自适应遗传算法 Optimal Nonholonomic Motion Planning of Space Robot System with Dual-Arms Based on Adaptive Genetic Algorithm Tang Xiaoteng, Chen Li College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China E-mail: Tang_xt @163.com, Chnle@ Abstract: In this paper, the optimal nonholonomic motion planning of free-floating space robot system with dual-arms is discussed. Base on the linear and angular momentum conservations of the system, the system state equations for control design are established, so the nonholonomic motion planning objective of attitude control of space robot system is translated as the solution of a canonical nonlinear control problem. The optimal control scheme of the system proposed is studied, and an adaptive genetic algorithm for computing approximate optimal control of the system proposed is developed. The optimal motion planning approach proposed above possesses the advantages that it can obtain the desired angles of the base’s attitude and arms’ joints onl