Collision-Free Trajectory Planning Optimization Algorithms for Two-Arm Cascade Combination System

Jingjing Xu, Long Tao, Yanhu Pei, Qiang Cheng, Hongyan Chu and Tao Zhang ()
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Jingjing Xu: Institute of Advanced Manufacturing and Intelligent Technology, Beijing University of Technology, Beijing 100124, China
Long Tao: Institute of Advanced Manufacturing and Intelligent Technology, Beijing University of Technology, Beijing 100124, China
Yanhu Pei: Genertec Machine Tool Engineering Research Institute Co., Ltd., Beijing 100102, China
Qiang Cheng: Institute of Advanced Manufacturing and Intelligent Technology, Beijing University of Technology, Beijing 100124, China
Hongyan Chu: Institute of Advanced Manufacturing and Intelligent Technology, Beijing University of Technology, Beijing 100124, China
Tao Zhang: Institute of Advanced Manufacturing and Intelligent Technology, Beijing University of Technology, Beijing 100124, China

Mathematics, 2024, vol. 12, issue 14, 1-29

Abstract: As a kind of space robot, the two-arm cascade combination system (TACCS) has been applied to perform auxiliary operations at different locations outside space cabins. The motion coupling relation of two arms and complex surrounding obstacles make the collision-free trajectory planning optimization of TACCS more difficult, which has become an urgent problem to be solved. For the above problem, this paper proposed collision-free and time–energy–minimum trajectory planning optimization algorithms, considering the motion coupling of two arms. In this method, the screw-based inverse kinematics (IK) model of TACCS is established to provide the basis for the motion planning in joint space by decoupling the whole IK problem into two IK sub-problems of two arms; the minimum distance calculation model is established based on the hybrid geometric enveloping way and basic distance functions, which can provide the efficient and accurate data basis for the obstacle-avoidance constraint condition of the trajectory optimization. Moreover, the single and bi-layer optimization algorithms are presented by taking motion time and energy consumption as objectives and considering obstacle-avoidance and kinematics constraints. Finally, through example cases, the results indicate that the bi-layer optimization has higher convergence efficiency under the premise of ensuring the optimization effect by separating variables and constraint terms. This work can provide theoretical and methodological support for the efficient and intelligent applications of TACCS in the space arena.

Keywords: space robot; trajectory planning; obstacle avoidance; two-arm cascade combination system; bi-layer optimization (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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