원문정보
초록
영어
In order to improve the motion reliability of space manipulator during its long time service on-orbit, multiple indexes which can reflect the motion performance and multiple factors (control variables of manipulator) which have influence on motion reliability are involved in establishing an optimization control model. Thus the problem of motion reliability improvement is expressed as an multiple-objective problem (MOP). In order to solve the MOP, dimension reduction strategy is proposed based on covariance matrix of motion reliability indexes. As a result, the MOP is turned into single objective problem. Then control variables are optimized based on null space of space manipulator, and the best weight matrix can be obtained when the objective is minimal. Simulations are carried out to verify the feasibility and effectiveness of the optimization control strategy. By decreasing the error introduction into the control variables, the motion reliability can be effectively improved.
목차
1. Introduction
2. Multi-Index Representation of Space Manipulator Motion Reliability
3. Optimization Control Model Considering Multi-Index and Multi-Factor
3.1. Constraints of Optimization Control Model
3.2. Objective of Optimization Control Model
4. Calculation for Optimization Control Model of Motion Reliability
4.1. The Dimension Reduction Strategy of Multi-Objective Problem Based On Covariance Matrix
4.2. Objective Solution Based on Null Space Optimization
5. Simulations Verification
5.1. Research Object
5.2. Objective Function Minimization and Optimal Coefficient Calculation
5.3. Verification of Optimization Control Strategy in Improving Motion Reliability
6. Conclusion
Acknowledgements
References