Motion planning for redundant prismatic-jointed manipulators in the free-floating mode
This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both...
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| Veröffentlicht in: | Acta mechanica Sinica 2012-10, Vol.28 (5), p.1449-1456 |
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| creator | Liu, Xiao-Dong Baoyin, He-Xi Ma, Xing-Rui |
| description | This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators. |
| doi_str_mv | 10.1007/s10409-012-0099-2 |
| format | Article |
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On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.</description><identifier>ISSN: 0567-7718</identifier><identifier>EISSN: 1614-3116</identifier><identifier>DOI: 10.1007/s10409-012-0099-2</identifier><language>eng</language><publisher>Heidelberg: The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences</publisher><subject>Algorithms ; Classical and Continuum Physics ; Computational Intelligence ; Computer simulation ; Engineering ; Engineering Fluid Dynamics ; Jacobian matrix ; Manipulators ; Motion planning ; Orientation ; Redundancy ; Redundant ; Research Paper ; Theoretical and Applied Mechanics ; 关节 ; 冗余机器人 ; 差分进化算法 ; 机械手 ; 棱柱 ; 浮动模 ; 自由浮动 ; 运动规划</subject><ispartof>Acta mechanica Sinica, 2012-10, Vol.28 (5), p.1449-1456</ispartof><rights>The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c299t-ce636338efc7ca3eeb2a123a128afe84267d32bb4440b4eed7f0ba23f127a3f3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Uhttp://image.cqvip.com/vip1000/qk/86601X/86601X.jpg</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10409-012-0099-2$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10409-012-0099-2$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,780,784,27924,27925,41488,42557,51319</link.rule.ids></links><search><creatorcontrib>Liu, Xiao-Dong</creatorcontrib><creatorcontrib>Baoyin, He-Xi</creatorcontrib><creatorcontrib>Ma, Xing-Rui</creatorcontrib><title>Motion planning for redundant prismatic-jointed manipulators in the free-floating mode</title><title>Acta mechanica Sinica</title><addtitle>Acta Mech Sin</addtitle><addtitle>Acta Mechanica Sinica</addtitle><description>This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.</description><subject>Algorithms</subject><subject>Classical and Continuum Physics</subject><subject>Computational Intelligence</subject><subject>Computer simulation</subject><subject>Engineering</subject><subject>Engineering Fluid Dynamics</subject><subject>Jacobian matrix</subject><subject>Manipulators</subject><subject>Motion planning</subject><subject>Orientation</subject><subject>Redundancy</subject><subject>Redundant</subject><subject>Research Paper</subject><subject>Theoretical and Applied Mechanics</subject><subject>关节</subject><subject>冗余机器人</subject><subject>差分进化算法</subject><subject>机械手</subject><subject>棱柱</subject><subject>浮动模</subject><subject>自由浮动</subject><subject>运动规划</subject><issn>0567-7718</issn><issn>1614-3116</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><recordid>eNp9kD9PwzAUxC0EEqXwAdjCxmLws02cjKjin1TEUrFaTvLcpkrs1E4Gvj2uUjEyPL3lfne6I-QW2AMwph4jMMlKyoBTxsqS8jOygBwkFQD5OVmwp1xRpaC4JFcx7hkTOShYkO9PP7beZUNnnGvdNrM-ZAGbyTXGjdkQ2tibsa3p3rduxCbrjWuHqTOjDzFrXTbuMLMBkdrOJ2Fy6H2D1-TCmi7izekvyeb1ZbN6p-uvt4_V85rWvCxHWmMuciEKtLWqjUCsuAEu0hXGYiF5rhrBq0pKySqJ2CjLKsOFBa6MsGJJ7mfbIfjDhHHUfRtr7FIZ9FPUkCsQhZBQJCnM0jr4GANanbr1JvxoYPo4oZ4n1GlCfZxQ88TwmYlJ67YY9N5PwaVC_0J3p6Cdd9tD4v6SpChUooT4Bc3OgLk</recordid><startdate>20121001</startdate><enddate>20121001</enddate><creator>Liu, Xiao-Dong</creator><creator>Baoyin, He-Xi</creator><creator>Ma, Xing-Rui</creator><general>The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>~WA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>KR7</scope></search><sort><creationdate>20121001</creationdate><title>Motion planning for redundant prismatic-jointed manipulators in the free-floating mode</title><author>Liu, Xiao-Dong ; Baoyin, He-Xi ; Ma, Xing-Rui</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c299t-ce636338efc7ca3eeb2a123a128afe84267d32bb4440b4eed7f0ba23f127a3f3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Algorithms</topic><topic>Classical and Continuum Physics</topic><topic>Computational Intelligence</topic><topic>Computer simulation</topic><topic>Engineering</topic><topic>Engineering Fluid Dynamics</topic><topic>Jacobian matrix</topic><topic>Manipulators</topic><topic>Motion planning</topic><topic>Orientation</topic><topic>Redundancy</topic><topic>Redundant</topic><topic>Research Paper</topic><topic>Theoretical and Applied Mechanics</topic><topic>关节</topic><topic>冗余机器人</topic><topic>差分进化算法</topic><topic>机械手</topic><topic>棱柱</topic><topic>浮动模</topic><topic>自由浮动</topic><topic>运动规划</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Liu, Xiao-Dong</creatorcontrib><creatorcontrib>Baoyin, He-Xi</creatorcontrib><creatorcontrib>Ma, Xing-Rui</creatorcontrib><collection>中文科技期刊数据库</collection><collection>中文科技期刊数据库-CALIS站点</collection><collection>中文科技期刊数据库-7.0平台</collection><collection>中文科技期刊数据库- 镜像站点</collection><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Civil Engineering Abstracts</collection><jtitle>Acta mechanica Sinica</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Liu, Xiao-Dong</au><au>Baoyin, He-Xi</au><au>Ma, Xing-Rui</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Motion planning for redundant prismatic-jointed manipulators in the free-floating mode</atitle><jtitle>Acta mechanica Sinica</jtitle><stitle>Acta Mech Sin</stitle><addtitle>Acta Mechanica Sinica</addtitle><date>2012-10-01</date><risdate>2012</risdate><volume>28</volume><issue>5</issue><spage>1449</spage><epage>1456</epage><pages>1449-1456</pages><issn>0567-7718</issn><eissn>1614-3116</eissn><abstract>This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.</abstract><cop>Heidelberg</cop><pub>The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences</pub><doi>10.1007/s10409-012-0099-2</doi><tpages>8</tpages></addata></record> |
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| subjects | Algorithms Classical and Continuum Physics Computational Intelligence Computer simulation Engineering Engineering Fluid Dynamics Jacobian matrix Manipulators Motion planning Orientation Redundancy Redundant Research Paper Theoretical and Applied Mechanics 关节 冗余机器人 差分进化算法 机械手 棱柱 浮动模 自由浮动 运动规划 |
| title | Motion planning for redundant prismatic-jointed manipulators in the free-floating mode |
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