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Applied Mathematics and Mechanics (English Edition) ›› 2000, Vol. 21 ›› Issue (10): 1161-1168.

• 论文 • 上一篇    下一篇

BASED ON WAVELET ANALYSIS TO OPTIMAL CONTROL OF MOTION PLANNING OF SPACE MANIPULATOR

戈新生1, 张奇志1, 刘延柱2   

  1. 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
  • 收稿日期:1999-04-07 修回日期:2000-04-18 出版日期:2000-10-18 发布日期:2000-10-18
  • 基金资助:
    the National Natural Science Foundation of China(19782003)

BASED ON WAVELET ANALYSIS TO OPTIMAL CONTROL OF MOTION PLANNING OF SPACE MANIPULATOR

GE Xin-sheng1, ZHANG Qi-zhi1, LIU Yan-zhu2   

  1. 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
  • Received:1999-04-07 Revised:2000-04-18 Online:2000-10-18 Published:2000-10-18
  • Supported by:
    the National Natural Science Foundation of China(19782003)

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261

被引次数

6

摘要： 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.

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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