空间科学学报2000，Vol.20Issue(2)：185-191,7.
基于遗传算法的空间机械臂运动规划的最优控制
AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORSBASE GENETIC ALGORITHM
摘要
Abstract
The problem of nonholonomic motion planning of spacemanipulator system is discussed in this paper. The problem ofnonholonomic motion planning of space manipulator is transformed intothe optimized control of nonlinear system by using the nonholonomiccharacters of the system. The genetic algorithm is introduced to solvethe optimized control problem. Based on genetic algorithm for optimizedcontrol of nonholonomic motion planning of space manipulator isproposed. The effectiveness of the method is proved by the numericalsimulation examples.关键词
空间机械臂—运动规划—最优控制—遗传算法Key words
Space manipulator/Motion planning/Optimizedcontrol/Genetic algorithm分类
信息技术与安全科学引用本文复制引用
戈新生,张奇志,刘延柱..基于遗传算法的空间机械臂运动规划的最优控制[J].空间科学学报,2000,20(2):185-191,7.基金项目
国家自然科学基金资助项目 19782003 （）
