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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2017> 26(2): 143-149
Wencheng Ni, Zhihong Jiang, Hui Li, Bo Wei, Xiaoyun Li, Bainan Zhang, Qiang Huang. Trajectory Optimization for 7-Dofs Space Manipulator[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2017, 26(2): 143-149. doi: 10.15918/j.jbit1004-0579.201726.0201
Citation: Wencheng Ni, Zhihong Jiang, Hui Li, Bo Wei, Xiaoyun Li, Bainan Zhang, Qiang Huang. Trajectory Optimization for 7-Dofs Space Manipulator[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2017, 26(2): 143-149.doi:10.15918/j.jbit1004-0579.201726.0201
shu

Trajectory Optimization for 7-Dofs Space Manipulator

doi:10.15918/j.jbit1004-0579.201726.0201
  • 1.

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    China Academy of Space Technology, Beijing 100094, China

  • Received Date:2016-10-20
    Abstract
  • The space manipulator is always designed to have 7 degrees of freedom (Dofs) with the consideration of energy limitation, as well as the flexible moving possibility. Therefore, how to plan the trajectory is important to improve the performance of the manipulator. In this paper, the speed of the end effector is configured as a projecting parameter, when a constant acceleration is applied to adjust the velocity. To implement this trajectory planning strategy, an optimization algorithm through the pseudo inverse of Jacobin matrix is designed, which adjusts the weight functions of joints. According to the functional theory, this algorithm is analyzed and the optimal solution is found in numerous sets of planning. A MATLAB simulation platform is established and the results verity the effectiveness of the algorithm.
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    • References (10)
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