基于小波分析的空间机械臂运动规划的最优控制

基金项目: 国家自然科学基金资助项目(19782003)

Based on Wavelet Analysis to Optimal Control of Motion Planning of Space Manipulator

1.
Division of Basic Courses, Beijing Institute of Machinery, Beijing 100085, P. R. China;
2.
Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200030, P. R. China

摘要: 讨论了空间机械臂系统非完整运动规划的最优控制问题.利用小波分析方法,将离散正交小波函数引入最优控制,由小波级数展开式逼近替代传统的Fourier基函数,提出基于小波分析的最优控制数值算法.仿真结果表明,该方法对求解空间机械臂非完整运动规划问题是有效的.
- 空间机械臂 /
- 运动规划 /
- 最优控制 /
- 小波分析
Abstract: The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based on wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.
- space manipulator /
- motion planning /
- optimal control /
- wavelet analysis

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