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Muti-objective optimal trajectory planning for the experiment cabinet robot manipulator in the space station

Published online by Cambridge University Press:  16 May 2025

Yongxu Lu Open the ORCID record for Yongxu Lu [Opens in a new window] ,
Yansong Xu Open the ORCID record for Yansong Xu [Opens in a new window] ,
Wei Zhang Open the ORCID record for Wei Zhang [Opens in a new window] ,
Junlin Li Open the ORCID record for Junlin Li [Opens in a new window] ,
Feng Li Open the ORCID record for Feng Li [Opens in a new window]  and
Xiaoyuan Liu
Yongxu Lu
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China University of Chinese Academy of Sciences, Beijing, China
Yansong Xu
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China University of Chinese Academy of Sciences, Beijing, China
Wei Zhang*
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China University of Chinese Academy of Sciences, Beijing, China
Junlin Li
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China University of Chinese Academy of Sciences, Beijing, China
Feng Li
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China University of Chinese Academy of Sciences, Beijing, China
Xiaoyuan Liu
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
*
Corresponding author: Wei Zhang; Email: zhangwei@sia.cn
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Abstract

The robot manipulator is commonly employed in the space station experiment cabinet for the disinfection task. The challenge lies in devising a motion trajectory for the robot manipulator that satisfies both performance criteria and constraints within the confined space of an experimental cabinet. To address this issue, this paper proposes a trajectory planning method in joint space. This method constructs the optimal trajectory by transforming the original problem into a constrained multi-objective optimization problem. This is then solved and integrated with the seventh-degree B-spline curve. The optimization algorithm utilizes an indicator-based adaptive differential evolution algorithm, enhanced with improved Tent chaotic mapping and opposition-based learning for population initialization. The method employed the Fréchet distance to design a trajectory selection strategy based on the Pareto solutions to ensure that the planned trajectory complies with Cartesian space requirements. This allows the robot manipulator end-effector to approximate the desired path in Cartesian space closely. The findings indicate that the proposed method can effectively design the robot manipulator trajectory, considering both joint motion performance and end-effector motion constraints. This ensures that the robot manipulator operates efficiently and safely within the experimental cabinet.

Keywords

space stationexperiment cabinet robotmuti-objective trajectory planningadaptive differential evolutionindicator-basedB-splineFréchet distance
Type
Research Article
Information
Robotica , Volume 43 , Issue 4 , April 2025 , pp. 1433 - 1455
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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