空间大型机械臂系统载运轨迹优化方法

The large space manipulator which is assembled on the space station will bring attitude reactions to the space station in moving or assembling tens of tons objects process. To resolve this problem, a new Cartesian trajectory optimization method was proposed. The attitude disturbance control of base is realized by using the decomposition and velocity control and optimization algorithm based on the Generalized Jacobian Matrix (GJM). An objective function was established for measuring the variation of the space station attitude. Based on the consideration of the joints angle and the influence of dynamic singularity. By using Particle Swarm Optimization (PSO) method for the objective function, the attitude influence on space station was reduced significantly. The validity of the algorithm was verified by simulation results.