PSO-Based Time Optimal Rapid Orientation for Micro-Nano Space Robot
Yuchen Liu, Zhonghe Jin, Lai Teng
Abstract
Simultaneous multi-directional orientation tasks on space robots exhibits strong dynamic coupling between the manipulators and the base-spacecraft, and this phenomenon is more obvious in the micro-nano space robot. Regarding to the highly coupled dynamic system of micro-nano space robot and its nonholonomic constraints, a multi-directional rapid orientation method of micro-nano space robot based on optimization theory is proposed in this paper. Dynamic model of satellite-manipulators cooperative operation micro-nano space robot is established by the combination of virtual manipulator (VM) and Newton-Euler method. Then, taking the acceleration continuous cubic polynomial trajectory planning method and the dynamics-based feedback linearization controller as an example, the particle swarm optimization (PSO) method is used to solve the time and path nodes of the orientation process of the micro-nano space robot. Finally, three typical spatial orientation problems are simulated to verify the feasibility and rapidity of this orientation method, which are simultaneous orientation, assisted orientation and cooperative braking, respectively. Furthermore, the paper presents the structure of the objective function for optimization in different multi-component and multi-objective co-orientation tasks.