Based on wavelet analysis to optimal control of motion planning of space manipulator |
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| Authors: | Ge Xin-sheng Professor Zhang Qi-zhi Liu Yan-zhu |
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| Institution: | (1) Division of Basic Courses, Beijing Institute of Machinery, 100085 Beijing, P R China;(2) Department of Engineering Mechanics, Shanghai Jiaotong University, 20030 Shanghai, P R China |
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| 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. |
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| Keywords: | space manipulator motion planning optimal control wavelet analysis |
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