中文摘要：

利用自由漂浮空间机器人系统的非完整冗余特性,提出一种可使基座姿态和机械臂末端位姿同时到达期望状态的路径规划方法。该方法首先通过正弦多项式函数对机械臂关节角轨迹进行参数化,并根据基座姿态和机械臂末端位姿控制精度指标设计目标函数,由此,将自由漂浮空间机器人系统的非完整笛卡尔路径规划问题转换为非线性系统的优化问题。采用量子粒子群优化算法对非线性优化问题进行求解,将求解出的参数代入机械臂关节轨迹函数,即实现了非完整路径规划的目标。建立由飞行基座和6-DOF机械臂组成的空间机器人系统动力学模型,对所提出的方法进行仿真验证。试验结果表明,所提出的方法能够收敛于全局最优值,收敛速度快,所需调整参数少,且规划的关节路径满足关节角、角速度及角加速度的范围,关节路径平滑,适合于机械臂的控制。

英文摘要：

Based on the non-holonomic redundancy behavior of free-floating space robot system,a path planning approach is proposed to realize the Cartesian pose（position and attitude） of the end-effector,and the attitude of the spacecraft attaining the desired states simultaneously.The joint trajectories are parameterized by using sinusoidal polynomials functions and the cost function is proposed according to the accuracy requirements.The path planning problem is transformed to a nonlinear optimization problem.The quantum-behaved particle swarm optimization（QPSO）algorithm is employed to search for the global optimal resolution of the parameters variables.The parameters variables are taken into joint trajectories functions to realize non-holonomic path planning.A dynamic model of a space robot system composed of a spacecraft and a 6-DOF manipulator is developed,and the proposed method is verified by using this model.The simulation results show that this method is better than other approaches both in convergence rate and accuracy and the joints trajectories are very smooth and suitable for control.