Abstract
The Space Station Remote Manipulator System (SSRMS) type redundant manipulator with higher flexibility and foldability is widely used in the space environment. Inverse kinematics and multi-objective configuration optimization are analyzed in this paper. An arm angle parameterized inverse kinematics method using the approximate solution and error compensation scheme is proposed, which has the advantages of not requiring a selection of initial estimates of joint variables, being insensitive to Jacobian matrix singularities, having no pose error, and finding multiple solutions. In addition, Multiple Objective Particle Swarm Optimization (MOPSO) scheme is adopted to optimize the arm angle trajectory in null space, and the optimization index is set as joint torque and manipulability. Unlike traditional trajectory planning methods, we synthesize null space and configuration control to provide a novel perspective for trajectory planning. Finally, the experiments prove that the inverse kinematics algorithm is efficient and reliable, and the effectiveness of the configuration optimization method is verified by the numerical simulation of single objective and multi-objective optimization.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
