For a redundant floating space robot performing multiple tasks in one travel,an improved genetic algo-rithm(IGA)is proposed to solve the corresponding trajectory planning problem.Three gene categories are simulta-neously optimized,and each chromosome consists of three parts.The three parts include a sequential order of task points,a sequential order of joint configurations corresponding to task points,and a sine polynomial coefficient em-ployed to depict joint trajectories.The three parts are separately encoded,and the crossover and mutation opera-tions are separately performed during iterations.Simulation results show that,compared with traditional genetic al-gorithms,IGA has higher efficiency,less calculation,and shorter CPU time.
关键词
空间机器人/自由度冗余/漂浮基座/多任务轨迹规划/关节构型/遗传算法/改进遗传算法/多刚体动力学
Key words
space robotics/redundant degree of freedom/floating base/multitask-based trajectory planning/joint configuration/genetic algorithm/improved genetic algorithm/multi-rigid-body dynamics
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