Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling
Aiming at the optimal trajectory planning problem faced by free floating space robot (FFSR) in capturing non cooperative target (NCT) with unknown dynamic parameters, firstly, based on the unique intrinsic characteristics of FFSR in microgravity environment, a general FFSR kinematic model based on g...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2022-01-01
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| Series: | ITM Web of Conferences |
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| Online Access: | https://www.itm-conferences.org/articles/itmconf/pdf/2022/07/itmconf_cccar2022_02011.pdf |
| _version_ | 1818215044094099456 |
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| author | Li Huazhong |
| author_facet | Li Huazhong |
| author_sort | Li Huazhong |
| collection | DOAJ |
| description | Aiming at the optimal trajectory planning problem faced by free floating space robot (FFSR) in capturing non cooperative target (NCT) with unknown dynamic parameters, firstly, based on the unique intrinsic characteristics of FFSR in microgravity environment, a general FFSR kinematic model based on generalized velocity variables and an NCT dynamic model based on quaternion method are established. Secondly, the optimal criterion of FFSR trajectory planning and the parametric modeling method of FFSR manipulator joint trajectory based on sinusoidal function are studied; Finally, a QPSO algorithm for FFSR trajectory planning based on the optimal comprehensive index is proposed |
| first_indexed | 2024-12-12T06:29:49Z |
| format | Article |
| id | doaj.art-34eb0d461c834bfebf7982b23ba088fa |
| institution | Directory Open Access Journal |
| issn | 2271-2097 |
| language | English |
| last_indexed | 2024-12-12T06:29:49Z |
| publishDate | 2022-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | ITM Web of Conferences |
| spelling | doaj.art-34eb0d461c834bfebf7982b23ba088fa2022-12-22T00:34:37ZengEDP SciencesITM Web of Conferences2271-20972022-01-01470201110.1051/itmconf/20224702011itmconf_cccar2022_02011Research on QPSO algorithm for trajectory planning of FFSR general kinematics modelingLi Huazhong0Shenzhen Institute of Information TechnologyAiming at the optimal trajectory planning problem faced by free floating space robot (FFSR) in capturing non cooperative target (NCT) with unknown dynamic parameters, firstly, based on the unique intrinsic characteristics of FFSR in microgravity environment, a general FFSR kinematic model based on generalized velocity variables and an NCT dynamic model based on quaternion method are established. Secondly, the optimal criterion of FFSR trajectory planning and the parametric modeling method of FFSR manipulator joint trajectory based on sinusoidal function are studied; Finally, a QPSO algorithm for FFSR trajectory planning based on the optimal comprehensive index is proposedhttps://www.itm-conferences.org/articles/itmconf/pdf/2022/07/itmconf_cccar2022_02011.pdfffsrnctkinematictrajectory planningqpso |
| spellingShingle | Li Huazhong Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling ITM Web of Conferences ffsr nct kinematic trajectory planning qpso |
| title | Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling |
| title_full | Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling |
| title_fullStr | Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling |
| title_full_unstemmed | Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling |
| title_short | Research on QPSO algorithm for trajectory planning of FFSR general kinematics modeling |
| title_sort | research on qpso algorithm for trajectory planning of ffsr general kinematics modeling |
| topic | ffsr nct kinematic trajectory planning qpso |
| url | https://www.itm-conferences.org/articles/itmconf/pdf/2022/07/itmconf_cccar2022_02011.pdf |
| work_keys_str_mv | AT lihuazhong researchonqpsoalgorithmfortrajectoryplanningofffsrgeneralkinematicsmodeling |