Energy-efficient joint path-following for attitude-fixed space manipulators with bounds on completion time and motor voltage/current

详细信息    查看全文

• 作者：Yong-Min Kim ; Byung-Kook Kim
• 关键词：Space manipulators ; Path ; following ; Trajectory optimization ; Optimal control
• 刊名：Intelligent Service Robotics
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：10
• 期：1
• 页码：1-11
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics; Artificial Intelligence (incl. Robotics); User Interfaces and Human Computer Interaction; Vibration, Dynamical Systems, Control; Robotics and Automation;
• 出版者：Springer Berlin Heidelberg
• ISSN：1861-2784
• 卷排序：10

文摘

This paper investigates the minimum-energy joint path-following problem for space manipulators whose base attitude is stabilized by reaction wheels. In the problem, manipulator joint path is specified for rest-to-rest motion and constraints are imposed as the upper bound on both motion completion time and the voltage/current limits of DC motors in manipulator joints and reaction wheels. We suggest a simple two-stage algorithm to address this problem. The algorithm first tries to find a global optimal solution by solving a relaxed convex problem. If the convex relaxation is not successful, then the algorithm solves subproblems iteratively to find a suboptimal solution. Since both problems are formulated as second-order cone programming (SOCP) form, they can be solved efficiently using dedicated SOCP solvers. The effectiveness of the proposed method is verified by numerical experiments.