Multi-Objective Trajectory Optimization of Free-Floating Space Manipulator Using NSGA-II

Gang Chen; Cong Wei; Qing Xuan Jia; Han Xu Sun; Bo Yang Yu

doi:10.4028/www.scientific.net/AMM.713-715.800

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 713-715Multi-Objective Trajectory Optimization of...

Multi-Objective Trajectory Optimization of Free-Floating Space Manipulator Using NSGA-II

Abstract:

In this paper, a kind of multi-objective trajectory optimization method based on non-dominated sorting genetic algorithm II (NSGA-II) is proposed for free-floating space manipulator. The aim is to optimize the motion path of the space manipulator with joint angle constraints and joint velocity constraints. Firstly, the kinematics and dynamics model are built. Secondly, the 3-5-3 piecewise polynomial is selected as interpolation method for trajectory planning of joint space. Thirdly, three objective functions are established to simultaneously minimize execution time, energy consumption and jerk of the joints. At last, the objective functions are combined with the NSGA-II algorithm to get the Pareto optimal solution set. The effectiveness of the mentioned method is verified by simulations.

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Periodical:

Applied Mechanics and Materials (Volumes 713-715)

Pages:

800-804

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.713-715.800

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Online since:

January 2015

Authors:

Gang Chen*, Cong Wei, Qing Xuan Jia, Han Xu Sun, Bo Yang Yu

Keywords:

Multi-Objective Optimization (MOP), NSGA-II, Space Robot, Trajectory Optimization

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