Trajectory planning with residual vibration suppression for space manipulator based on particle swarm optimization algorithm

Abstract

Space manipulator suffers from vibration problems mainly due to the flexibility of joints and links in a microgravity environment. This article presents a new optimization method of trajectory planning with minimum residual vibration for space manipulator system which is modeled by absolute coordinate-based method. First, absolute nodal coordinate formulation, which can describe large rotation and large deformation of flexible bodies precisely, is used to describe the deformation of flexible links, and natural coordinate formulation with nonlinear torsion stiffness function is used to model flexible joints. Then, joint rotation trajectory resulting from the planned end-effector trajectory by inverse kinematics theory is discrete through the proposed cosine-based function that has been validated to suppress the residual vibration. The particle swarm optimization algorithm is employed to achieve minimum residual vibration by optimizing redundant coefficients of movement derived from inverse kinematics theory. The effectiveness of the proposed method is illustrated via simulation of a planar three-link manipulator taking large deformation and large rotation into account. Results show that the optimized method can exhibit better features for the residual vibration suppression as compared to those of the original cosine-based trajectory.

A Review of Spatial Robotic Arm Trajectory Planning

“…Additionally, in the context of the enhanced real-time problem, Misra et al [73] investigated point-to-point trajectory planning in sequential convex planning (SCP) framework, culminating in an expression for the end-effector positional constraints and their subsequent convex relaxation. Xin et al [74] generated joint rotation trajectories based on cosine functions through inverse kinematic theory. The rotation trajectories were subsequently discretized to achieve minimum residual vibration suppression for the space manipulator.…”

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

“…Giorgio and Vescovo [2019] (129) proposed an energy-based method to track the trajectory of a flexible manipulator taking care of end-effector vibrations. Currently, researchers are using particle swarm optimization algorithm for tuning of controllers for efficient trajectory tracking and vibration suppression simultaneously ( (130) , (131) , (132) , (133) ).…”

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

“…Regarding residual vibrations specifically, there is a sense in which all strategies for flexible system control are also about attempting to control residual vibrations. For example, see references [13][14][15][16][17][18][19][20][21][22]. In input shaping, for example, there is focus on making the controller more robust (or less sensitive) to departures of flexible system dynamics from nominal values.…”