Path optimization of excavating manipulator in lunar soil sampling
Abstract
Purpose
The purpose of this paper is to study the path optimization method of the manipulator in the lunar soil excavation and sampling process. The current research is a practical need for the excavation and sampling of the lunar soil in the lunar exploration project.
Design/methodology/approach
This paper proposes the objective function and constraints for path optimization during the excavation process of the lunar soil, regarding excavation time and energy consumption as the two key fitness indexes by analyzing the whole excavation process of the lunar soil. Specifically, the optimization is divided into two consecutive phases, one for the excavation path and the other one for joint motions. In the first phase, the Bézier polynomial is adopted to get the optimal excavation angle and reduce energy consumption. In the second phase, a method based on convex optimization, variable conversion and dynamic process discretization, is used to reduce excavation time and energy consumption.
Findings
Controlled experiments on the fine sand and the simulant lunar soil were conducted to verify the feasibility and effectiveness of the two phases of the optimization method, respectively.
Originality/value
The optimization method of the excavation tasks in this paper is of great value in theoretical and practical engineering, and it can be applied in other robotic operational tasks as well.
Keywords
Acknowledgements
This work is, in part, supported by the National Natural Science Fund of China, Under Grant No: 51175107, the National Program on Key Basic Research Project 973 Program under Grant 2013CB733103 and the Self-Planned Task (No. SKLRS201206B) of State Key Laboratory of Robotics and System (HIT).
Citation
Yang, H., Xie, Z., Li, C., Zhao, X. and Jin, M. (2016), "Path optimization of excavating manipulator in lunar soil sampling", Industrial Robot, Vol. 43 No. 1, pp. 65-76. https://doi.org/10.1108/IR-06-2015-0119
Publisher
:Emerald Group Publishing Limited
Copyright © 2016, Emerald Group Publishing Limited