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Naghash
Keywords:
Space Manipulators
Flexible Links
Trajectory Optimization
Differential Flatness
B-spline Curves
Direct Collocation Method
Nonlinear Programming.
ABSTRACT
In this paper, the problem of trajectory optimization of flexible space robots is considered
and an efficient approach is proposed for solving it. The space robots are considered as
mechanical manipulators having rigid and flexible links. The main duty of these robots is to
translate a payload mass between two specified points. To derive dynamic model of these
manipulators, their flexible links are assumed as a set of rigid links connected together. By
adding strain potential energy to Lagrange equations, the flexible behaviour of flexible links
is modeled with good accuracy. In present paper, the problem of trajectory optimization of
space manipulators is defined based on minimum joint torque (minimum control effort)
objective function. A new approach, that is a developed form of direct collocation method, is
used for solving this problem. This new approach is based on simultaneous using of
differential flatness to decrease dimensional space of the problem and B-spline curves to
approximate trajectories. In this approach, state equations and path constraints are applied at
specified time nodes and control points of B-spline curves are considered as optimization
variables. In this approach, the problem of trajectory optimization is converted to a nonlinear
programming problem and exactly solved by nonlinear programming methods. By using this
approach, the numbers of optimization variables and constraints are significantly decreased
and the possibility of online trajectory optimization is provided.
1. Introduction
The robotic technology has various potential applications in
space exploration. The use of light weight flexible structure
robots is necessary when the weight and volume of robots
are the main concerns to prevent unnecessary energy
consumption during launch to space and work in space.
This, however, results in considerable challenges in the
control of these robots. Some of the problems in the control
of flexible robots are vibration due to structural flexibility,
reducing positioning capability due to flexibility and lack of
sensing and complexity of modeling the motion of a flexible
mechanism.
In space missions, the Trajectory Optimization (TO) of
* Address for correspondence: mbahrami@aut.ac.ir
48
2. Dynamic Model
Creating a dynamic model that accounts for link flexibility
adds additional challenges beyond the standard rigid link
robot dynamics. Although a rigid robot's dynamics is
defined by a set of second order ordinary differential
equations, a flexible robot's dynamics is defined by a set of
fourth order partial differential equations with
corresponding boundary conditions. A flexible structure
contains state variables not only in the form of joint angles
and angular velocities but also in the form of link curvatures
and their derivatives. In FM, the most apparent complexity
arises due to the additional degrees of freedom associated
with deformations of links. Although in theory this adds an
infinite number of degrees of freedom, in practice only a
finite number are used to generate a model that is
sufficiently accurate for simulation and control design.
In this paper, FM are assumed as a set of rigid and flexible
links. The main duty of FM is to translate a payload mass
between two specified points. The motion of these FM is
controlled by joint torques. To derive dynamic model of
these manipulators, we can convert each flexible link of FM
to a set of rigid links connected together. By adding strain
potential energy term to Lagrange equations, the flexible
behaviour of flexible links is modeled with acceptable
accuracy. In Fig. 1, conversion a flexible link to three rigid
links has been demonstrated. Clearly, by choosing more
rigid links for each flexible link, more accurate model is
achieved. In this approach, for each replaced rigid link, two
angular positions at the start and end of link are considered
and for each actual rigid link, one angular position is
q4
q3
q2
q1
Fig. 1: Conversion a flexible link to three rigid links
dt q i
q Qi
i
(1)
T q, q
1 T
q M(q)q
2
(3)
i 1
J i q R i q I i R i q J i q
n
(4)
i 1
li
0
qi
s
EI i
ds
(5)
49
q q j 1 q j
s
lj
Ui
1
EI i
2
nf
q j1 q j 2
j 1
lj
(6)
(7)
(8)
i 1
Q
tf
ti
Q2 2 dt
(10)
x
t(1)
t(2)
t(3)
t(4)
t(5)
t(6)
t(7)
50
5. New Approach
Direct collocation method is the fastest solution method of
TO problems because of directness of method and implicit
integration in this method. Therefore, this method is a good
choice to develop and convert to an online solution method.
In direct collocation method, large numbers of optimization
variables and constraints are generated because of full
discretization of TO problems. These large numbers of
optimization variables and constraints lead to a long solution
time. The numbers of optimization variables and constraints
are related to the numbers of state and control variables,
state equations and time nodes. Therefore, we should find an
approach to decrease the numbers of state and control
variables, state equations and time nodes in order to
decrease solution time without any reduction in solution
accuracy.
In this section, a new approach is presented for exact and
rapid solving of TO problems. This new approach is based
on simultaneous using of differential flatness to decrease
dimensional space of TO problems and B-spline curves to
approximate trajectories. The details of this approach are
described in three subsections.
5.1. Differential Flatness
In direct collocation method, all of state and control
variables are discretized [15]. Some researchers show that it
is possible to eliminate control variables in direct methods.
In this case, only state variables are discretized [18]. In
recent years, some researchers show that it is possible to
eliminate the part of state variables (in addition of control
variables). In this case, only the reminder state variables are
discretized and some state equations are eliminated from
problem because of finding the relation between eliminated
state and control variables and remainder state variables.
This method can be used in differentially flat systems. A
nonlinear system is differentially flat, if there exists a
change of variables p given by an equation of the form:
p h(x, u, u ,...., u ( p) )
(13)
51
Bi,k (t )
i, k (t )Ci
t0 t t f
(17)
x(t )
t ti
t t
Bi,k 1 (t ) i k
Bi 1,k 1 (t )
ti k 1 ti
ti k ti 1
(16)
(15)
i 0
where Bi,k(t) are basis functions, Ci are the control points and
k is the order of Bezier curves.
In order to compute basis functions, first, we should
determine the number of Bezier curves and the needed
orders of them based on the complexity of trajectories. Also,
we should specify the level of continuity between Bezier
curves. Then, we can use the following recursive equations
52
1 , q
2 ,..., q
5 0
wq1 , q2 ,..., q5 , q1 , q 2 ,..., q5 , q
ti
initial situation
q2 (deg)
q2 (deg)
10
100
50
q4 (deg)
q (deg)
50
-45
Mass (Kg)
Length (m)
Flexural Rigidity (N.m2)
0
0
-50
0
-50
10
15
20
10
15
20
q2
50
50
0
0
10
15
20
10
15
20
-500
10
15
20
10
15
20
q3 (deg)
q3 (deg)
50
0
0
50
50
q1
Q
50
100
-50
0
10
15
20
100
10
15
20
10
Time (s)
15
20
100
q2 (deg)
15
20
10
15
20
q3 (deg)
100
50
53
0
-50
0
50
-50
10
10
10
10
Time (s)
10
Time (s)
50
50
0
0
-50
0
-50
100
-50
0
0
-50
100
-50
0
0
-50
100
100
q4 (deg)
q3
q1 (deg)
q5
50
100
-50
100
50
100
100
q4
(19)
+90
q5 (deg)
q (deg)
final situation
q1 (deg)
q1 (deg)
rigid link
tf
payload mass
flexible link
(18)
-50
-50
-50
0
5
10
International Journal of Robotics, Vol. 1, No. 1 (2009) /M.Bahrami,R.Jamilnia,A.Naghash
q2 (deg)
100
100
50
50
0.3
-50
-0.6
-50
0
10
15
20
10
15
20
10
15
20
10
Time (s)
15
20
100
-0.3
10
Time (s)
15
q3 (deg)
0.6
20
q5 (deg)
15
20
50
-50
q4 (deg)
q1 (deg)
100
20
10
50
-50
0
10
15
20
100
100
q5 (deg)
q2 (deg)
20
7. Conclusion
In this paper, the problem of TO of FM was defined to
minimize joint torques and solved by a new approach. This
new approach is a developed form of classic direct
100 collocation method and is based on differential flatness, Bspline 20curves, collocation concept and NLP. By using
15
differential flatness, the numbers of optimization variables
50 and constraints are significantly decreased. In other words,
the dimensional space of problem is decreased. The closed
form of FM motion equations (Lagrange equations) is very
0 suitable for using differential flatness concept. In these
equations, choosing flat outputs and eliminating control
variables are very simple. By using B-spline curves, the
-50 possibility of continuous approximation of flat outputs with
points
0discrete control
5
10is provided.
15 B-spline
20curves are good
choice for approximating flat outputs because of their local
54
50
-50
5
50
-50
15
q4 (deg)
q1 (deg)
q5 (deg)
100
-50
15
q2 (deg)
q3 (deg)
100
50
50
References
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Minimum time trajectory control of a two link flexible
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Approximate optimal trajectories for flexible link
manipulator
slewing
using
recursive
quadratic
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