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首页> 外文期刊>The Open Mechanical Engineering Journal >State-Dependent Riccati Equation Control for Motion Planning of SpaceManipulator Carrying a Heavy Payload
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State-Dependent Riccati Equation Control for Motion Planning of SpaceManipulator Carrying a Heavy Payload

机译：状态依赖的Riccati方程式控制，用于承载重载荷的空间机械臂的运动规划

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In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floatingspace manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desiredend-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy aresimultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. Theintegrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector,joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependentRiccati equation (SDRE) is established and solved by Taylor series approximation method. The motionplanning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulatorand the results are discussed to illustrate the effectiveness of the proposed approach.
机译：在本文中，提出了一种非线性最优控制方法来规划冗余自由浮动空间机械手（FFSM）携带重载荷时的运动。确定最佳的关节轨迹来跟踪所需的末端执行器路径，同时要考虑机械手的承载能力和跟踪精度的限制。在该方法中，使用动力学方程将FFSM描述为非线性系统。提出了综合性能指标作为成本函数，包括末端执行器的跟踪误差惩罚，关节转矩优化，总能量改善和基座的不稳定性避免。然后建立与状态有关的里卡提方程（SDRE），并通过泰勒级数逼近法求解。提出了受多种约束的运动规划算法。对7自由度空间操纵器进行了仿真，并讨论了结果以说明所提出方法的有效性。

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