| Issue |
ITM Web Conf.
Volume 47, 2022
2022 2nd International Conference on Computer, Communication, Control, Automation and Robotics (CCCAR2022)
|
|
|---|---|---|
| Article Number | 02011 | |
| Number of page(s) | 15 | |
| Section | Algorithm Optimization and Application | |
| DOI | https://doi.org/10.1051/itmconf/20224702011 | |
| Published online | 23 June 2022 | |
Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling
Shenzhen Institute of Information Technology, Shenzhen, 518172, Guangdong, China
* Corresponding author: chinawwwsl@163.com
Aiming at the optimal trajectory planning problem faced by free floating space robot (FFSR) in capturing non cooperative target (NCT) with unknown dynamic parameters, firstly, based on the unique intrinsic characteristics of FFSR in microgravity environment, a general FFSR kinematic model based on generalized velocity variables and an NCT dynamic model based on quaternion method are established. Secondly, the optimal criterion of FFSR trajectory planning and the parametric modeling method of FFSR manipulator joint trajectory based on sinusoidal function are studied; Finally, a QPSO algorithm for FFSR trajectory planning based on the optimal comprehensive index is proposed
Key words: FFSR / NCT / Kinematic / Trajectory planning / QPSO
© The Authors, published by EDP Sciences, 2022
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