科研之友
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摘要
A path planning algorithm based on Gauss-Newton iteration method is proposed for the motion path of space manipulators. The algorithm of space manipulator path planning consists of two optimization aspects, the optimal joint motion target and the trajectory of joint motion, which make the grippers at the end of the space manipulators reach the expected target. First, the inverse solution of the desired state and the joint optimum state of the grippers is supposed to be the minimum value problem, and the Gauss-Newton iterative algorithm is designed to solve the problem. Then, according to the optimal joint target, the sinusoidal trajectory is designed. The path planning solution is transformed into the optimal parameter solution. Based on the optimal sinusoidal trajectory parameters, the path planning of the space manipulator is achieved. Simulation results indicate the correctness and effectiveness of the promoted method.
