中文摘要：

这份报纸调查与七个棱柱的关节冗余的免费漂浮的操纵者计划的运动。在地球上，棱柱关节的操纵者能仅仅以一个需要的方法放他们的结束受动器。在空间，然而，免费漂浮的操纵者的结束受动器能两个都完成需要的取向并且由于在操纵者和卫星运动之间的动态联合需要位置，它被线性、尖的动量能量守恒定律正式表示。在这研究，与微分进化(PSODE ) 相结合的易控制的算法粒子群优化被提供处理冗余的免费漂浮的棱柱关节的操纵者计划的运动，它能避免 Jacobian 矩阵的假逆。多项式工作，当在正弦功能的争论被用来指定联合路径。多项式的系数被优化完成需要的结束受动器取向和位置，并且同时用冗余性最小化 unit-mass-kinetic 精力。相关模拟证明这个方法为冗余的免费漂浮的棱柱关节的操纵者提供令人满意的光滑的路径。这研究能帮助认出冗余的棱柱关节的空间操纵者的优点。

英文摘要：

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.