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The Cartesian Path Planning of Free-Floating Space Robot using Particle Swarm Optimization
- Source :
- International Journal of Advanced Robotic Systems, Vol 5 (2008)
- Publication Year :
- 2008
- Publisher :
- SAGE Publishing, 2008.
-
Abstract
- The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed to solve this problem. Firstly, we parameterize the joint trajectory using polynomial functions, and then normalize the parameterized trajectory. Secondly, the Cartesian path planning is transformed to an optimization problem by integrating the differential kinematic equations. The object function is defined according to the accuracy requirement, and it is the function of the parameters to be defined. Finally, we use the Particle Swarm Optimization (PSO) algorithm to search the unknown parameters. The approach has the following traits: 1) The limits on joint angles, rates and accelerations are included in the planning algorithm; 2) There exist not any kinematic and dynamic singularities, since only the direct kinematic equations are used; 3) The attitude singularities do not exist, for the orientation is represented by quaternion; 4) The optimization algorithm is not affected by the initial parameters. Simulation results verify the proposed method.
- Subjects :
- Mathematical optimization
Meta-optimization
Optimization problem
Computer science
lcsh:Electronics
Particle swarm optimization
lcsh:TK7800-8360
Kinematics
lcsh:QA75.5-76.95
Computer Science Applications
Computer Science::Robotics
Artificial Intelligence
Trajectory
Robot
Motion planning
lcsh:Electronic computers. Computer science
Multi-swarm optimization
Metaheuristic
Algorithm
Software
Subjects
Details
- Language :
- English
- ISSN :
- 17298814
- Volume :
- 5
- Database :
- OpenAIRE
- Journal :
- International Journal of Advanced Robotic Systems
- Accession number :
- edsair.doi.dedup.....c0683014a5ac5506b0b468a7d01b5f9f