Trajectory planning with residual vibration suppression for space manipulator based on particle swarm optimization algorithm
| Title: | Trajectory planning with residual vibration suppression for space manipulator based on particle swarm optimization algorithm |
|---|---|
| Authors: | Pengfei Xin, Jili Rong, Yongtai Yang, Dalin Xiang, Yang Xiang |
| Source: | Advances in Mechanical Engineering, Vol 9 (2017) |
| Publisher Information: | SAGE Publishing, 2017. |
| Publication Year: | 2017 |
| Collection: | LCC:Mechanical engineering and machinery |
| Subject Terms: | Mechanical engineering and machinery, TJ1-1570 |
| More Details: | Space manipulator suffers from vibration problems mainly due to the flexibility of joints and links in a microgravity environment. This article presents a new optimization method of trajectory planning with minimum residual vibration for space manipulator system which is modeled by absolute coordinate-based method. First, absolute nodal coordinate formulation, which can describe large rotation and large deformation of flexible bodies precisely, is used to describe the deformation of flexible links, and natural coordinate formulation with nonlinear torsion stiffness function is used to model flexible joints. Then, joint rotation trajectory resulting from the planned end-effector trajectory by inverse kinematics theory is discrete through the proposed cosine-based function that has been validated to suppress the residual vibration. The particle swarm optimization algorithm is employed to achieve minimum residual vibration by optimizing redundant coefficients of movement derived from inverse kinematics theory. The effectiveness of the proposed method is illustrated via simulation of a planar three-link manipulator taking large deformation and large rotation into account. Results show that the optimized method can exhibit better features for the residual vibration suppression as compared to those of the original cosine-based trajectory. |
| Document Type: | article |
| File Description: | electronic resource |
| Language: | English |
| ISSN: | 1687-8140 16878140 |
| Relation: | https://doaj.org/toc/1687-8140 |
| DOI: | 10.1177/1687814017692694 |
| Access URL: | https://doaj.org/article/68fa3e285b394c0797c5ad69407fd2e6 |
| Accession Number: | edsdoj.68fa3e285b394c0797c5ad69407fd2e6 |
| Database: | Directory of Open Access Journals |
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| Items | – Name: Title Label: Title Group: Ti Data: Trajectory planning with residual vibration suppression for space manipulator based on particle swarm optimization algorithm – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Pengfei+Xin%22">Pengfei Xin</searchLink><br /><searchLink fieldCode="AR" term="%22Jili+Rong%22">Jili Rong</searchLink><br /><searchLink fieldCode="AR" term="%22Yongtai+Yang%22">Yongtai Yang</searchLink><br /><searchLink fieldCode="AR" term="%22Dalin+Xiang%22">Dalin Xiang</searchLink><br /><searchLink fieldCode="AR" term="%22Yang+Xiang%22">Yang Xiang</searchLink> – Name: TitleSource Label: Source Group: Src Data: Advances in Mechanical Engineering, Vol 9 (2017) – Name: Publisher Label: Publisher Information Group: PubInfo Data: SAGE Publishing, 2017. – Name: DatePubCY Label: Publication Year Group: Date Data: 2017 – Name: Subset Label: Collection Group: HoldingsInfo Data: LCC:Mechanical engineering and machinery – Name: Subject Label: Subject Terms Group: Su Data: <searchLink fieldCode="DE" term="%22Mechanical+engineering+and+machinery%22">Mechanical engineering and machinery</searchLink><br /><searchLink fieldCode="DE" term="%22TJ1-1570%22">TJ1-1570</searchLink> – Name: Abstract Label: Description Group: Ab Data: Space manipulator suffers from vibration problems mainly due to the flexibility of joints and links in a microgravity environment. This article presents a new optimization method of trajectory planning with minimum residual vibration for space manipulator system which is modeled by absolute coordinate-based method. First, absolute nodal coordinate formulation, which can describe large rotation and large deformation of flexible bodies precisely, is used to describe the deformation of flexible links, and natural coordinate formulation with nonlinear torsion stiffness function is used to model flexible joints. Then, joint rotation trajectory resulting from the planned end-effector trajectory by inverse kinematics theory is discrete through the proposed cosine-based function that has been validated to suppress the residual vibration. The particle swarm optimization algorithm is employed to achieve minimum residual vibration by optimizing redundant coefficients of movement derived from inverse kinematics theory. The effectiveness of the proposed method is illustrated via simulation of a planar three-link manipulator taking large deformation and large rotation into account. Results show that the optimized method can exhibit better features for the residual vibration suppression as compared to those of the original cosine-based trajectory. – Name: TypeDocument Label: Document Type Group: TypDoc Data: article – Name: Format Label: File Description Group: SrcInfo Data: electronic resource – Name: Language Label: Language Group: Lang Data: English – Name: ISSN Label: ISSN Group: ISSN Data: 1687-8140<br />16878140 – Name: NoteTitleSource Label: Relation Group: SrcInfo Data: https://doaj.org/toc/1687-8140 – Name: DOI Label: DOI Group: ID Data: 10.1177/1687814017692694 – Name: URL Label: Access URL Group: URL Data: <link linkTarget="URL" linkTerm="https://doaj.org/article/68fa3e285b394c0797c5ad69407fd2e6" linkWindow="_blank">https://doaj.org/article/68fa3e285b394c0797c5ad69407fd2e6</link> – Name: AN Label: Accession Number Group: ID Data: edsdoj.68fa3e285b394c0797c5ad69407fd2e6 |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1177/1687814017692694 Languages: – Text: English Subjects: – SubjectFull: Mechanical engineering and machinery Type: general – SubjectFull: TJ1-1570 Type: general Titles: – TitleFull: Trajectory planning with residual vibration suppression for space manipulator based on particle swarm optimization algorithm Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Pengfei Xin – PersonEntity: Name: NameFull: Jili Rong – PersonEntity: Name: NameFull: Yongtai Yang – PersonEntity: Name: NameFull: Dalin Xiang – PersonEntity: Name: NameFull: Yang Xiang IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 04 Type: published Y: 2017 Identifiers: – Type: issn-print Value: 16878140 Numbering: – Type: volume Value: 9 Titles: – TitleFull: Advances in Mechanical Engineering Type: main |
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