Trajectory Planning Of The Micro-reaction Space Manipulator

Because of huge military and civilian value, space manipulator has been theimportant points in the field of robot studying in recent years. With no control on itsbase, the manipulator movement will produce force and moment, which can result indisturbances to the spacecraft. If the force between the two is too large, base willproduce serious displacement and rotation. In this paper, An intelligent optimizationalgorithm is proposed to planning the manipulators movement, minimizing manipulatorreaction force to produce fewer attitude and position disturbance on base.Firstly, the mathematical modeling of space manipulator system in the conditionsof no control on the base is built. Due to the dynamics and kinematics coupling betweenthe manipulator and the base, the momentum conservation theory is used to solve thisproblem, which result in a kind of model similar to the ground robot. The characteristicsof the kinematics and dynamics, characteristics of the integrity constraints, the work ofmechanical space, and attitude undisturbed work space are analysis, which providestheoretical basis for trajectory planning of manipulator.Secondly, a large search space, high efficiency, not easy to limited to the localsolution of genetic algorithm is written. by adopting the idea of planning trajectorydecomposition, First,the position of the arm is took as objective function to plan out thefinal movement of the arm joint state; next, the objective function of optimal reaction istook as objective function to plan out the arm movement process. In addition, Thisalgorithm is applied to space manipulator simulation. On the other hand, a syntheticplanning thought is designed. The peak reaction and the base position state are took asthe optimization goal to seek optimal path. Compared with two kinds of optimizationmethods, the best way to plan the manipulator’s trajectory is obtained.Thirdly, the structure of mechanical manipulator is designed and to be optimized.To reduce the deformation and vibration of space manipulator, transient dynamicsanalysis function of ANSYS software is used to select the structure type, and optimumdesign function is used to optimal structure parameter to get small deformation, lightmass structure. The optimization arm structure model is built to analysis modal naturalfrequency and to ensure the structure security.