Based on Wavelet Analysis to Optimal Control of Motion Planning of Space Manipulator

GE Xin-sheng; ZHANG Qi-zhi; LIU Yan-zhu

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Article Navigation > Applied Mathematics and Mechanics > 2000 > 21(10): 1046-1052

GE Xin-sheng, ZHANG Qi-zhi, LIU Yan-zhu. Based on Wavelet Analysis to Optimal Control of Motion Planning of Space Manipulator[J]. Applied Mathematics and Mechanics, 2000, 21(10): 1046-1052.

Citation:

GE Xin-sheng, ZHANG Qi-zhi, LIU Yan-zhu. Based on Wavelet Analysis to Optimal Control of Motion Planning of Space Manipulator[J]. Applied Mathematics and Mechanics, 2000, 21(10): 1046-1052.

Citation:

GE Xin-sheng, ZHANG Qi-zhi, LIU Yan-zhu. Based on Wavelet Analysis to Optimal Control of Motion Planning of Space Manipulator[J]. Applied Mathematics and Mechanics, 2000, 21(10): 1046-1052.

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Based on Wavelet Analysis to Optimal Control of Motion Planning of Space Manipulator

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 Date: 1999-04-07
Rev Recd Date: 2000-04-18
Publish Date: 2000-10-15

Abstract

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.
- space manipulator,
- motion planning,
- optimal control,
- wavelet analysis

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References(10)

References

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