空间控制技术与应用2017，Vol.43Issue(5)：37-42,6.DOI:10.3969/j.issn.1674-1579.2017.05.006
一种可变形桁架避障规划方法
A Method on Obstacle Avoidance Planning for Variable Geometry Truss
摘要
Abstract
To design the obstacle avoidance planning method for variable geometry truss (VGT),an equivalent manipulator model is proposed.The redundant problem in the forward kinematics of single VGT is analyzed and a truss geometry is obtained with the only solution if each varied link is specified.The obstacle avoidance planning for the equivalent model is designed using genetic algorithm and optimized variables of equivalent model are obtained.Accordingly,the length of each varied link is obtained and the geometry of VGT could also be computed with the forward kinematics.In the optimized geometry of VGT,distances among middle points of fixed links remain constant and angle differences among VGT modules are small.The effectiveness of the proposed algorithm is shown via numerical simulations.关键词
可变形桁架/避障规划/遗传算法/等效机械臂模型Key words
variable geometry truss/obstacle avoidance/genetic algorithm/equivalent manipulator model分类
航空航天引用本文复制引用
邓雅,王泽国,张锦江..一种可变形桁架避障规划方法[J].空间控制技术与应用,2017,43(5):37-42,6.基金项目
国家重点基础发展计划资助项目(2013CB733100). （2013CB733100）
