Analysis of Load-Carrying Capacity for Redundant Free-Floating Space Manipulators in Trajectory Tracking Task
Joint Authors
Jia, Qingxuan
Liu, Yong
Chen, Gang
Sun, Hanxu
Peng, Junjie
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-12-07
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
The aim of this paper is to analyze load-carrying capacity of redundant free-floating space manipulators (FFSM) in trajectory tracking task.
Combined with the analysis of influential factors in load-carrying process, evaluation of maximum load-carrying capacity (MLCC) is described as multiconstrained nonlinear programming problem.
An efficient algorithm based on repeated line search within discontinuous feasible region is presented to determine MLCC for a given trajectory of the end-effector and corresponding joint path.
Then, considering the influence of MLCC caused by different initial configurations for the starting point of given trajectory, a kind of maximum payload initial configuration planning method is proposed by using PSO algorithm.
Simulations are performed for a particular trajectory tracking task of the 7-DOF space manipulator, of which MLCC is evaluated quantitatively.
By in-depth research of the simulation results, significant gap between the values of MLCC when using different initial configurations is analyzed, and the discontinuity of allowable load-carrying capacity is illustrated.
The proposed analytical method can be taken as theoretical foundation of feasibility analysis, trajectory optimization, and optimal control of trajectory tracking task in on-orbit load-carrying operations.
American Psychological Association (APA)
Jia, Qingxuan& Liu, Yong& Chen, Gang& Sun, Hanxu& Peng, Junjie. 2014. Analysis of Load-Carrying Capacity for Redundant Free-Floating Space Manipulators in Trajectory Tracking Task. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1044013
Modern Language Association (MLA)
Jia, Qingxuan…[et al.]. Analysis of Load-Carrying Capacity for Redundant Free-Floating Space Manipulators in Trajectory Tracking Task. Mathematical Problems in Engineering No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-1044013
American Medical Association (AMA)
Jia, Qingxuan& Liu, Yong& Chen, Gang& Sun, Hanxu& Peng, Junjie. Analysis of Load-Carrying Capacity for Redundant Free-Floating Space Manipulators in Trajectory Tracking Task. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1044013
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1044013