Planning And Optimization Of Obstacle Avoidance Trajectory Of Space Manipulator

As people continue to explore the space,the tasks performed by spacecraft are becoming more and more complex and space manipulator plays a very important role in this process.Since space debris in the space environment and spacecraft peripheral test equipment may become obstacles in the movement of the space manipulator,once the space manipulator collides with obstacles,it will cause incalculable losses.In the view of above problems,this paper carries out the research on the obstacle avoidance trajectory planning of the space manipulator,and optimizes the planned obstacle avoidance trajectory,so that it can better realize the performance requirements of energy saving,high efficiency and stability.At first,the research status of space manipulator,obstacle avoidance trajectory planning and optimization and optimization algorithms are introduced.With reference to the existing modeling methods,the kinematics equations of the system in the free-flying mode are established,and the dynamic equations of the system in the free-flying mode are established by using the Newton-Euler method.The structure and dynamical parameters of the space manipulator are given.Then,based on an efficient collision detection strategy,the intermediate point obstacle avoidance algorithm is applied to plan the joint trajectory,so as to realize the obstacle avoidance trajectory planning of the space manipulator.By analyzing the related parameters involved in the traditional wild horse optimizer,the improved wild horse optimizer is designed,and the optimization performance is compared with other optimization algorithms under different dimensional conditions.Then according to the obstacle avoidance process of the space manipulator performance requirements,design performance optimization functions and penalty functions,including disturbance torque optimization functions,time length optimization functions,and penalty functions for kinematics and dynamics related parameters,and give specific weight coefficients to each performance optimization function.The above is combined with the collision detection function to jointly establish the fitness evaluation function to achieve the optimization of the obstacle avoidance trajectory of the space manipulator.Finally,under the condition of a single obstacle or multiple obstacles in the workspace,the simulation experiment and analysis of the obstacle avoidance trajectory planning and optimization of the space manipulator are carried out.Under the condition of no obstacles in the workspace,simulation experiments and analysis of space manipulator trajectory planning and optimization are carried out.The above simulation experiment proves the feasibility of the intermediate point obstacle avoidance algorithm and the superiority of the improved wild horse optimizer.The influence of the polynomial curve used to plan the joint trajectory on the optimization effect of the obstacle avoidance trajectory is analyzed.The simulation experiment proves that the combined curve of the quartic polynomial and the quintic polynomial is used to plan the joint trajectory,which is beneficial to improve the optimization effect of the obstacle avoidance trajectory.The research content of this article can make the space manipulator avoid obstacles.At the same time they can make the obstacle avoidance process have higher performance.