Abstract The Space Station Remote Manipulator System (SSRMS) type redundant manipulator with higher flexibility and foldability is widely used in the space environment. Inverse kinematics and multi-objective configuration optimization are analyzed in this paper. An arm angle parameterized inverse kinematics method using the approximate solution and error compensation scheme is proposed, which has the advantages of not requiring a selection of initial estimates of joint variables, being insensitive to Jacobian matrix singularities, having no pose error, and finding multiple solutions. In addition, Multiple Objective Particle Swarm Optimization (MOPSO) scheme is adopted to optimize the arm angle trajectory in null space, and the optimization index is set as joint torque and manipulability. Unlike traditional trajectory planning methods, we synthesize null space and configuration control to provide a novel perspective for trajectory planning. Finally, the experiments prove that the inverse kinematics algorithm is efficient and reliable, and the effectiveness of the configuration optimization method is verified by the numerical simulation of single objective and multi-objective optimization.


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    Titel :

    Inverse kinematics and multi-objective configuration optimization of the SSRMS manipulator


    Beteiligte:
    Zhao, Jingdong (Autor:in) / Yang, Xiaohang (Autor:in) / Zhao, Zhiyuan (Autor:in) / Yang, Guocai (Autor:in) / Zhao, Liangliang (Autor:in)

    Erschienen in:

    Advances in Space Research ; 72 , 9 ; 3580-3594


    Erscheinungsdatum :

    2023-06-30


    Format / Umfang :

    15 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Charter for SSRMS Integration Team

    Johnson, Genevieve | NTRS | 1997




    Robotics Evaluation and Characterization (REACH) of the SSRMS

    Kalaycioglu, S. / American Astronautical Society| American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 1996