关键词: 非完整路径规划, 量子粒子群优化, 在轨服务, 姿态调整, 自由漂浮空间机器人

Abstract: Based on the non-holonomic redundancy behavior of free-floating space robot system, a path planning approach is proposed to realize the Cartesian pose (position and attitude) of the end-effector, and the attitude of the spacecraft attaining the desired states simultaneously. The joint trajectories are parameterized by using sinusoidal polynomials functions and the cost function is proposed according to the accuracy requirements. The path planning problem is transformed to a nonlinear optimization problem. The quantum-behaved particle swarm optimization (QPSO)algorithm is employed to search for the global optimal resolution of the parameters variables. The parameters variables are taken into joint trajectories functions to realize non-holonomic path planning. A dynamic model of a space robot system composed of a spacecraft and a 6-DOF manipulator is developed, and the proposed method is verified by using this model. The simulation results show that this method is better than other approaches both in convergence rate and accuracy and the joints trajectories are very smooth and suitable for control.

Key words: Attitude adjustment, Free floating space robot, Non-holonomic path planning, On-orbit service, Quantum-behaved particle swarm optimization