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International Journal of Aerospace Engineering
Volume 2016 (2016), Article ID 7819540, 14 pages
Research Article

Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure

School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received 24 October 2015; Revised 25 December 2015; Accepted 5 January 2016

Academic Editor: Paul Williams

Copyright © 2016 Qingxuan Jia et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Aiming at reducing joint velocity jumps caused by an unexpected joint-locked failure during space manipulator on-orbit operations without shutting down manipulator, trajectory optimization strategy considering the unexpectedness characteristics of joint-locked failure is proposed in the paper, which can achieve velocity jumps reduction in both operation space and joint space simultaneously. In the strategy, velocity in operation space concerning task completion directly is treated as equality constraints, and velocity in joint space concerning motion performance is treated as objective function. Global compensation vector which consists of coefficient, gradient of manipulability, and orthogonal matrix of null space is constructed to minimize the objective function. For each particular failure time, unique optimal coefficient can be obtained when the objective function is minimal. As a basis, a method for optimal coefficient function fitting is proposed based on a priori failure information (possible failure time and the corresponding optimal coefficient) to guarantee the unexpectedness characteristics of joint-locked failure. Simulations are implemented to validate the efficiency of trajectory optimization strategy in reducing velocity jumps in both joint space and operation space. And the feasibility of coefficient function is also verified in reducing velocity jump no matter when joint-locked failure occurs.