Considering the problem of spacecraft attitude disturbance due to the motion of manipulator, a trajectory planning scheme based on particle swarm optimization (PSO) algorithm is proposed for free floating space robot (FFSR) to minimize the disturbance. By analyzing the system angular momentum conservation equation, the objective function for minimizing the disturbance is presented. High order polynomial is used to approximate the trajectories of manipulator joints, and the coefficients of the polynomial are set as optimization parameters. To guarantee the trajectory planning algorithm convergence, the PSO algorithm with constriction factor is used to search the optimal trajectory. Simulation results show that the spacecraft attitude disturbance is effectively restrained with accomplishing the position and attitude adjusting mission, which verifies the validity of the proposed method.%针对机械臂运动产生的航天器栽体姿态扰动,提出一种基于粒子群优化算法的自由漂浮空间机器人栽体姿态扰动最优轨迹规划方案.对系统角动量守恒方程进行分析,给出了载体姿态扰动最优轨迹规划的目标函数.采用高阶多项式逼近机械臂关节角轨迹,将多项式系数作为优化参数.为保证规划算法的收敛性,采用带有收缩因子的粒子群优化算法进行轨迹寻优.仿真结果表明,在完成位姿调整任务的同时,载体姿态扰动得到了有效的抑制,验证了所提方法的有效性.
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