Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure
Joint Authors
Sun, Hanxu
Jia, Qingxuan
Chen, Gang
Li, Tong
Zhang, Jian
Source
International Journal of Aerospace Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-21
Country of Publication
Egypt
No. of Pages
14
Abstract EN
Aiming at reducing joint velocity jumps caused by an unexpected joint-locked failure during space manipulator on-orbit operations without shutting down manipulator, trajectory optimization strategy considering the unexpectedness characteristics of joint-locked failure is proposed in the paper, which can achieve velocity jumps reduction in both operation space and joint space simultaneously.
In the strategy, velocity in operation space concerning task completion directly is treated as equality constraints, and velocity in joint space concerning motion performance is treated as objective function.
Global compensation vector which consists of coefficient, gradient of manipulability, and orthogonal matrix of null space is constructed to minimize the objective function.
For each particular failure time, unique optimal coefficient can be obtained when the objective function is minimal.
As a basis, a method for optimal coefficient function fitting is proposed based on a priori failure information (possible failure time and the corresponding optimal coefficient) to guarantee the unexpectedness characteristics of joint-locked failure.
Simulations are implemented to validate the efficiency of trajectory optimization strategy in reducing velocity jumps in both joint space and operation space.
And the feasibility of coefficient function is also verified in reducing velocity jump no matter when joint-locked failure occurs.
American Psychological Association (APA)
Jia, Qingxuan& Li, Tong& Chen, Gang& Sun, Hanxu& Zhang, Jian. 2016. Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure. International Journal of Aerospace Engineering،Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1105033
Modern Language Association (MLA)
Jia, Qingxuan…[et al.]. Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure. International Journal of Aerospace Engineering No. 2016 (2016), pp.1-14.
https://search.emarefa.net/detail/BIM-1105033
American Medical Association (AMA)
Jia, Qingxuan& Li, Tong& Chen, Gang& Sun, Hanxu& Zhang, Jian. Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure. International Journal of Aerospace Engineering. 2016. Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1105033
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1105033