Multi-Objective Trajectory Planning of FFSM Carrying a Heavy Payload. (2nd September 2015)

• Record Type: Journal Article
• Authors: Liu, Yong; Jia, Qingxuan; Chen, Gang; Sun, Hanxu; Peng, Junjie
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 9(2015)
• Publication Date: 2015-09-02
• Subjects: free-floating space manipulator -- multi-objective trajectory planning -- maximum payload -- MOPSO algorithm; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/61235
• Languages: English
• ISSNs: 1729-8806

Abstract

Aiming at carrying a heavy payload to a desired pose (including position and orientation), a multi-objective optimization-based approach for maximum-payload trajectory planning of free-floating space manipulators (FFSM) is proposed in this paper. The presented approach corresponds to two typical applications: (i) the manipulator joints attain the desired states; (ii) the inertial pose of the end-effector (pose with respect to the inertial frame) attains the desired values, for which a novel two-stage method is presented. Firstly, for the purpose of reducing computational complexity, dynamics equations are derived using a spatial operator algebra (SOA) method. Secondly, objective functions are defined according to the improvement of load-carrying capacity and pose requirements of the end-effector. Then, the joint trajectories are specified using sinusoidal polynomial functions. Finally, a multi-objective particle optimization (MOPSO) algorithm is employed to obtain a non-dominated solution set, during which process particles that do not satisfy the constraints are eliminated. Simulations are performed for a 7-DOF FFSM, considering three and five objectives for optimization in the two applications, respectively. The results demonstrate that the proposed approach can provide satisfactory joint trajectories and improve load-carrying capacity effectively.