Motion planning of ground simulator for space instable target based on energy saving | |
Bai XL(白鑫林)2,3,5; Li XW(李锡文)5; Zhao, Zhen4; Yang MY(杨明毅)2,3; Zhang, Zhang1; Xu ZG(徐志刚)2,3; Liu MY(刘明洋)2,3; Xia Q(夏奇)5 | |
刊名 | Machines |
2021 | |
卷号 | 9期号:12页码:1-22 |
关键词 | Continuous singularity configuration Energy saving Ground experiment Optimal joint path Robot motion planning Space instable target |
ISSN号 | 2075-1702 |
产权排序 | 1 |
英文摘要 | In order to achieve the high-precision motion trajectory in ground experiment of space instable target (SIT) while reducing the energy consumption of the motion simulator, a robot motion planning method based on energy saving is proposed. Observable-based ground robot motion experiment system for SIT is designed and motion planning process is illustrated. Discrete optimization mathematical model of energy consumption of motion simulator is established. The general motion form of the robot joints in ground test is given. The optimal joint path of motion simulator based on energy consumption under discontinuous singularity configuration is solved by constructing the complete energy consumption directed path and Dijkstra algorithm. An improved method by adding the global optimization algorithm is used to decouple the coupled robot joints to obtain the minimum energy consumption path under the continuous singularity configuration of the motion simulator. Simulations are carried out to verify the proposed solution. The simulation data show that total energy saving of motion simulator joints adopting the proposed method under the condition of non-singularity configuration, joints coupled motion with continuous singularity configuration, and coexistence of non-singularity path and continuous singularity path are, respectively, 72.67%, 28.24%, and 62.23%, which proves that the proposed method can meet the requirements of ground motion simulation for SIT and effectively save energy. |
资助项目 | China Manned Space Engineering Office[030501] |
WOS关键词 | EXPERIMENT SYSTEM ; FLOATING TARGET ; ROBOT ; CONSUMPTION ; GENERATION |
WOS研究方向 | Engineering |
语种 | 英语 |
WOS记录号 | WOS:000737647900001 |
资助机构 | China Manned Space Engineering Office, grant number 030501 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30232] |
专题 | 沈阳自动化研究所_装备制造技术研究室 |
通讯作者 | Xia Q(夏奇) |
作者单位 | 1.Shanghai Aerospace Chemical Engineering Institute, Huzhou, 313000, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China 4.Aerospace System Engineering Shanghai, Shanghai, 201109, China 5.School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China |
推荐引用方式 GB/T 7714 | Bai XL,Li XW,Zhao, Zhen,et al. Motion planning of ground simulator for space instable target based on energy saving[J]. Machines,2021,9(12):1-22. |
APA | Bai XL.,Li XW.,Zhao, Zhen.,Yang MY.,Zhang, Zhang.,...&Xia Q.(2021).Motion planning of ground simulator for space instable target based on energy saving.Machines,9(12),1-22. |
MLA | Bai XL,et al."Motion planning of ground simulator for space instable target based on energy saving".Machines 9.12(2021):1-22. |
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