Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

Zhang, Qiang; Wang, Lan; Zhou, Dongsheng

doi:10.5772/62123

Cited by 12 publications

(7 citation statements)

References 10 publications

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“…8 Zhang et al presented a trajectory planning by using the simulated annealing algorithm and applied to a seven-degree-of-freedom space robot manipulator. 9 Hu et al used a fifth-order B-spline to design a path and then applied the genetic algorithm to minimize both the traveling time and the jerks. 10 Lu et al applied the particle swarm optimization algorithm to a five-segment S-curve with axis constraints so as to obtain the optimal parameters in the motion profile of a computer numerical control (CNC) machine.…”

Section: Introductionmentioning

confidence: 99%

Dual-optimization trajectory planning based on parametric curves for a robot manipulator

Kuo

Lin

2020

International Journal of Advanced Robotic Systems

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This article presents a dual-optimization trajectory planning algorithm, which consists of the optimal path planning and the optimal motion profile planning for robot manipulators, where the path planning is based on parametric curves. In path planning, a virtual-knot interpolation is proposed for the paths required to pass through all control points, so the common curves, such as Bézier curves and B-splines, can be incorporated into it. Besides, an optimal B-spline is proposed to generate a smoother and shorter path, and this scheme is especially suitable for closed paths. In motion profile planning, a generalized formulation of time-optimal velocity profiles is proposed, which can be implemented to any types of motion profiles with equality and inequality constraints. Also, a multisegment cubic velocity profile is proposed by solving a multiobjective optimization problem. Furthermore, a case study of a dispensing robot is investigated through the proposed dual-optimization algorithm applied to numerical simulations and experimental work.

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Section: Introductionmentioning

confidence: 99%

Dual-optimization trajectory planning based on parametric curves for a robot manipulator

Kuo

Lin

2020

International Journal of Advanced Robotic Systems

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“…The common methods in the trajectory planning include genetic algorithm [9][10], simulated annealing [11][12], artificial neural network [13][14], A � algorithm [15], vector field method [16], adaptive algorithm [17][18], particle swarm optimization algorithm [19][20], artificial potential field method [21][22], etc. Among these algorithms, the artificial potential field method has a simple structure, is convenient for real-time control on hardware entities, and can usually plan smoother and safer paths.…”

Section: Introductionmentioning

confidence: 99%

Research on motion planning for an indoor spray arm based on an improved potential field method

et al. 2020

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The target spraying effect of spray robots mainly depends on the control performance of the spraying arm during the processes of aiming and tracking. To further improve the robustness of the endpoint control and positioning accuracy of the spray arm, an improved potential field algorithm for the motion planning and control of the spray arm is proposed based on prophase research. The algorithm introduces a velocity potential field, visual field constraints and joint position limit constraints into the traditional artificial potential field method. The velocity potential field is used to ensure that the target state of the spraying arm is at the same velocity as the target crop (relative velocity) to achieve stable target tracking. The visual field constraints and joint position limit constraints are utilized to ensure the efficiency of the visual servo control and the movement of the spray arm. The algorithm can plan a feasible trajectory for the spraying arm in Cartesian space and image space, and use the speed controller to control the spraying arm movement along the trajectory for aiming and tracking. Simulation analysis shows that the algorithm can plan better motion trajectories than the servo controller based on image moments in previous studies. In addition, the experimental results show that the algorithm can effectively improve the robustness of targeting and tracking control for the spray robot.

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“…These dynamic modeling studies provide an important basis for analyzing the dynamic behavior of the free-floating spacecraft base. 23,24…”

Section: Introductionmentioning

confidence: 99%

“…These dynamic modeling studies provide an important basis for analyzing the dynamic behavior of the free-floating spacecraft base. 23,24 Besides, due to manufacturing and assembling errors, wear and deformation, joint clearances inevitably exist in space manipulator system. The existence of clearances causes impact load and leads to that the performance and reliability of the system are drastically influenced, which is hard to satisfy the accuracy requirement and even results in failure in orbit missions.…”

Section: Introductionmentioning

confidence: 99%

Dynamic behavior and parameter sensitivity of the free-floating base for space manipulator system considering joint flexibility and clearance

Zhang

Liu

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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The joint flexibility and clearance greatly affect the dynamic behavior of the free-floating base when space manipulators operate due to the dynamic coupling between the manipulators and the free-floating base. Based on the Lagrange–Euler method and momentum conservation, the dynamic model of a free-floating space manipulator system with joint flexibility and clearance is obtained. With this model, the coupling effects of joint flexibility and clearance on the dynamic response of the free-floating base are analyzed and some case studies are conducted to investigate the effects of different parameters of joint flexibility and clearance on the free-floating base. Further, the parameter sensitivity of the free-floating base for space manipulator system with joint flexibility and clearance is analyzed using the improved response surface method. According to the analysis of response surface method, we can increase the joint clearance size or decrease the dynamic friction coefficient to improve the stability and motion accuracy of the free-floating base position and attitude. This work points out the direction for reducing the base disturbance and provides a basis for the optimization design for free-floating space manipulator system.

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Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

Cited by 12 publications

References 10 publications

Dual-optimization trajectory planning based on parametric curves for a robot manipulator

Dual-optimization trajectory planning based on parametric curves for a robot manipulator

Research on motion planning for an indoor spray arm based on an improved potential field method

Dynamic behavior and parameter sensitivity of the free-floating base for space manipulator system considering joint flexibility and clearance

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