The path planning of space manipulator based on Gauss–Newton iteration method

Yaen Xie,Tianwei Hao,Zhen Shi,Zhipeng Wang,Xiande Wu,Jun Sun

doi:10.1177/1687814017718475

Abstract

A path planning algorithm based on Gauss–Newton iteration method is proposed for the motion path of space manipulators. The algorithm of space manipulator path planning consists of two optimization aspects, the optimal joint motion target and the trajectory of joint motion, which make the grippers at the end of the space manipulators reach the expected target. First, the inverse solution of the desired state and the joint optimum state of the grippers is supposed to be the minimum value problem, and the Gauss–Newton iterative algorithm is designed to solve the problem. Then, according to the optimal joint target, the sinusoidal trajectory is designed. The path planning solution is transformed into the optimal parameter solution. Based on the optimal sinusoidal trajectory parameters, the path planning of the space manipulator is achieved. Simulation results indicate the correctness and effectiveness of the promoted method.

Highlights

With the development of space techniques, space missions are becoming increasingly diverse and complex
The 6-DOF manipulator with six joints in 2D space displayed in Figure 1 is used in simulation to verify the algorithm of the path planning of space manipulator based on Gauss–Newton iteration method
The path planning algorithm in this article is adopted in path planning of the space manipulator in expansion and retraction

Summary

Introduction

With the development of space techniques, space missions are becoming increasingly diverse and complex. The singularity problem of the dynamic model based on Lagrange factor was solved by M Wang et al.[8] through combining the dynamic equations and the particle swarm optimization algorithm This method obtained the optimal solution of joint motion path with constraints and solved the irreversibility of Jacobi matrix through quaternion. The outline of this article is as follows: in the second part, the dynamic model of the space manipulator based on the D-H method is introduced, and the position description equation of the grippers is derived. 0. After determining expected motion targets of each joint, in order to ensure the efficient and accurate movement of the manipulator toward the target, path planning in the process of manipulator is needed. In accordance with the principle of minimum torque required for general motion, the cost function of optimal joint movement target is as follows. Nmax amax where nmax is the maximum angular velocity of manipulator joints

Revising a1max and a2max

Confirming T1 and T3

Conclusion