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Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm
Chen ZC(陈正仓); Zhou WJ(周维佳)
Department空间自动化技术研究室
Source PublicationJournal of Robotics
ISSN1687-9600
2017
Volume2017Pages:1-10
Indexed ByEI
EI Accession number20171303493570
Contribution Rank1
Funding OrganizationNational NaturalScience Foundation of China (Grant no. 51505470) and the Dr. Start-Up Fund in Liaoning Province (20141152).
AbstractIn this study, by considering a space-based, n-joint manipulator system as research object, a kinematic and a dynamic model are constructed and the system's nonholonomic property is discussed. In light of the nonholonomic property unique to space-based systems, a path planning method is introduced to ensure that when an end-effector moves to the desired position, a floating base achieves the expected pose. The trajectories of the joints are first parameterized using sinusoidal polynomial functions, and cost functions are defined by the pose deviation of the base and the positional error of the end-effector. At this stage, the path planning problem is converted into a target optimization problem, where the target is a function of the joints. We then adopt a quantum genetic algorithm (QGA) to solve this objective optimization problem to attain the optimized trajectories of the joints and then execute nonholonomic path planning. To test the proposed method, we carried out a simulation on a six-degree-of-freedom (DOF) space-based manipulator system (SBMS). The results showed that, compared to traditional genetic optimization algorithms, the QGA converges more rapidly and has a more accurate output.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20300
Collection空间自动化技术研究室
Corresponding AuthorChen ZC(陈正仓)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang 110016, China
2.University of Chinese Academy of Science, Beijing, China
Recommended Citation
GB/T 7714
Chen ZC,Zhou WJ. Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm[J]. Journal of Robotics,2017,2017:1-10.
APA Chen ZC,&Zhou WJ.(2017).Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm.Journal of Robotics,2017,1-10.
MLA Chen ZC,et al."Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm".Journal of Robotics 2017(2017):1-10.
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