MATEC Web of Conferences
Volume 35, 20152015 4th International Conference on Mechanics and Control Engineering (ICMCE 2015)
|Number of page(s)||5|
|Section||Mechanical engineering and control system|
|Published online||16 December 2015|
Low Speed Motion Optimization of Space Manipulator Based on Gradient Projection Method
Beijing University of Posts and Telecommunications in Beijing, China
a Corresponding author: firstname.lastname@example.org
Low-speed crawling phenomenon may occur when space manipulators run at a low speed, which may bring big problem for manipulation work. A kind of low-speed optimization algorithm based on gradient projection method is pro-posed in this paper. The designing of continuous balanced proportional factor can effectively reduce the quantitative differences between the homogeneous solution and the special solution, avoiding the joint velocities oscillations. The low-speed crawling problem can be effectively improved by appropriate increase of joint velocities. And the effectiveness and correctness of the optimization algorithm are confirmed by the simulation.
© Owned by the authors, published by EDP Sciences, 2015
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