GA based adaptive singularity-robust path planning of space robot for on-orbit detection
As a new on-orbit detection platform, the space robot could ensure stable and reliable operation of spacecraft in complex space environments. The tracking accuracy of the space manipulator end-effector is crucial to the detection precision. In this paper, the Cartesian path planning method of veloci...
| Main Authors: | , , , , |
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| Format: | Article |
| Published: |
Hindawi Publishing Corporation
2018
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| Online Access: | https://eprints.nottingham.ac.uk/52861/ |
| _version_ | 1848798826638344192 |
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| author | Wu, Jianwei Bin, Deer Feng, Xiaobing Wen, Zhongpu Zhang, Yin |
| author_facet | Wu, Jianwei Bin, Deer Feng, Xiaobing Wen, Zhongpu Zhang, Yin |
| author_sort | Wu, Jianwei |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | As a new on-orbit detection platform, the space robot could ensure stable and reliable operation of spacecraft in complex space environments. The tracking accuracy of the space manipulator end-effector is crucial to the detection precision. In this paper, the Cartesian path planning method of velocity level inverse kinematics based on generalized Jacobian matrix (GJM) is proposed. The GJM will come across singularity issue in path planning, which leads to the infinite or incalculable joint velocity. To solve this issue, firstly, the singular value decomposition (SVD) is used for exposition of the singularity avoidance principle of the damped least squares (DLS) method. After that, the DLS method is improved by introducing an adaptive damping factor which changes with the singularity. Finally, in order to improve the tracking accuracy of the singularity-robust algorithm, the objective function is established, and two adaptive parameters are optimized by genetic algorithm (GA). The simulation of a 6-DOF free-floating space robot is carried out, and the results show that, compared with DLS method, the proposed method could improve the tracking accuracy of space manipulator end-effector. |
| first_indexed | 2025-11-14T20:25:57Z |
| format | Article |
| id | nottingham-52861 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T20:25:57Z |
| publishDate | 2018 |
| publisher | Hindawi Publishing Corporation |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-528612020-05-04T19:37:46Z https://eprints.nottingham.ac.uk/52861/ GA based adaptive singularity-robust path planning of space robot for on-orbit detection Wu, Jianwei Bin, Deer Feng, Xiaobing Wen, Zhongpu Zhang, Yin As a new on-orbit detection platform, the space robot could ensure stable and reliable operation of spacecraft in complex space environments. The tracking accuracy of the space manipulator end-effector is crucial to the detection precision. In this paper, the Cartesian path planning method of velocity level inverse kinematics based on generalized Jacobian matrix (GJM) is proposed. The GJM will come across singularity issue in path planning, which leads to the infinite or incalculable joint velocity. To solve this issue, firstly, the singular value decomposition (SVD) is used for exposition of the singularity avoidance principle of the damped least squares (DLS) method. After that, the DLS method is improved by introducing an adaptive damping factor which changes with the singularity. Finally, in order to improve the tracking accuracy of the singularity-robust algorithm, the objective function is established, and two adaptive parameters are optimized by genetic algorithm (GA). The simulation of a 6-DOF free-floating space robot is carried out, and the results show that, compared with DLS method, the proposed method could improve the tracking accuracy of space manipulator end-effector. Hindawi Publishing Corporation 2018-05-25 Article PeerReviewed Wu, Jianwei, Bin, Deer, Feng, Xiaobing, Wen, Zhongpu and Zhang, Yin (2018) GA based adaptive singularity-robust path planning of space robot for on-orbit detection. Complexity, 2018 . p. 370291. ISSN 1076-2787 https://www.hindawi.com/journals/complexity/2018/3702916/ doi:10.1155/2018/3702916 doi:10.1155/2018/3702916 |
| spellingShingle | Wu, Jianwei Bin, Deer Feng, Xiaobing Wen, Zhongpu Zhang, Yin GA based adaptive singularity-robust path planning of space robot for on-orbit detection |
| title | GA based adaptive singularity-robust path planning of space robot for on-orbit detection |
| title_full | GA based adaptive singularity-robust path planning of space robot for on-orbit detection |
| title_fullStr | GA based adaptive singularity-robust path planning of space robot for on-orbit detection |
| title_full_unstemmed | GA based adaptive singularity-robust path planning of space robot for on-orbit detection |
| title_short | GA based adaptive singularity-robust path planning of space robot for on-orbit detection |
| title_sort | ga based adaptive singularity-robust path planning of space robot for on-orbit detection |
| url | https://eprints.nottingham.ac.uk/52861/ https://eprints.nottingham.ac.uk/52861/ https://eprints.nottingham.ac.uk/52861/ |