Research on Trajectory Planning Technology of Experimental Module Manipulator Based on Beetle Antennae Search Algorithm
To ensure that the end effector follow the predefined task trajectory while the manipulator's joint trajectories satisfy the multi-objective constraints,a trajectory planning technique based on the Beetle Antennae Search(BAS)algorithm was proposed for the trajectory planning task of the Wen-tian Experimental Module Manipulator(EMM)in China Space Station.Given the complex opera-tional environment in space,the Gilbert-Johnson-Keerthi(GJK)algorithm was used to prioritize maintaining a minimum distance between the manipulator and surrounding obstacles.Based on the EMM's kinematic model established by the Denavit-Hartenberg(DH)method,the position error between the end effector and the target trajectory in Cartesian space was considered as a secondary optimization objective.To minimize joint wear,the travel ranges of the 3rd,4th,and 5th joints were included as a tertiary objective.These three objectives were combined into the optimization model u-sing the weighted coefficient method.Experimental results showed that the proposed algorithm had a fast convergence rate,produced smoother error curves,and achieved higher accuracy as compared with the Particle Swarm Optimization(PSO)algorithm.This validated that the BAS-planned trajec-tory could ensure the end effector to follow the target trajectory while avoiding obstacles,thus ensu-ring the manipulator's safe and precise task execution in space.
space robotic armtrajectory planningbeetle antennae search algorithmobstacle a-voidancehigh-precision motion
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维普
