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

• Articles • Previous Articles     Next Articles

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)

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.

2010 MSC Number: 

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