Multi-Objective Trajectory Planning of FFSM Carrying a Heavy Payload

• Published in: International journal of advanced robotic systems Vol. 12; no. 9
• Main Authors: Liu, Yong, Jia, Qingxuan, Chen, Gang, Sun, Hanxu, Peng, Junjie
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 02.09.2015; Sage Publications Ltd; SAGE Publishing
• Subjects: Algorithms; Bearing strength; Computer simulation; Constraint modelling; Functions (mathematics); Genetic algorithms; Kinematics; Linear programming; Load carrying capacity; Manipulators; Mathematical analysis; Mathematical models; Multiple objective analysis; Operators (mathematics); Optimization; Payloads; Planning; Polynomials; Robot arms; Simulation; Trajectories; Trajectory planning; free-floating space manipulator; multi-objective trajectory planning; MOPSO algorithm; maximum payload
• ISSN: 1729-8806; 1729-8814
• DOI: 10.5772/61235

Aiming at carrying a heavy payload to a desired pose (including position and orientation), a multi-objective optimization-based approach for maximum-payload trajectory planning of free-floating space manipulators (FFSM) is proposed in this paper. The presented approach corresponds to two typical applications: (i) the manipulator joints attain the desired states; (ii) the inertial pose of the end-effector (pose with respect to the inertial frame) attains the desired values, for which a novel two-stage method is presented. Firstly, for the purpose of reducing computational complexity, dynamics equations are derived using a spatial operator algebra (SOA) method. Secondly, objective functions are defined according to the improvement of load-carrying capacity and pose requirements of the end-effector. Then, the joint trajectories are specified using sinusoidal polynomial functions. Finally, a multi-objective particle optimization (MOPSO) algorithm is employed to obtain a non-dominated solution set, during which process particles that do not satisfy the constraints are eliminated. Simulations are performed for a 7-DOF FFSM, considering three and five objectives for optimization in the two applications, respectively. The results demonstrate that the proposed approach can provide satisfactory joint trajectories and improve load-carrying capacity effectively.