Design and Optimization of Non-Coplanar Orbits for Orbital Photovoltaic Panel Cleaning Robots
Source abstract
Abstract
Aiming at the problem that it is difficult for an orbital photovoltaic panel cleaning robot to span a large distance between photovoltaic panels, a method of designing and optimizing a non-coplanar orbit based on Bezier curves is proposed. Firstly, the robot’s motion law is analyzed to obtain trajectory data for a single work cycle. Then, Bezier curves are utilized for trajectory design to ensure a smooth transition during the spanning motion phase. Thirdly, with the average value of the minimum distance between the Bezier curve and the point set data of the spanning motion phase as the optimization objective function, the nonlinear planning based on the SQP algorithm was adopted for the optimization of the upper and lower trajectories. Finally, the results of the case calculations indicate that the standard deviation of the optimized upper and lower trajectories was reduced by 35.63% and 40.57%, respectively. Additionally, the ADAMS simulation validation demonstrates that the trajectory errors of the four wheels decreased by a maximum of 8.79 mm, 23.78 mm, 10.11 mm, and 14.97 mm, respectively, thereby confirming the effectiveness of the trajectory optimization.
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Research context
OpenAlex topics: Space Satellite Systems and Control · Spacecraft Dynamics and Control · Spacecraft Design and Technology
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Institute of Robotics and Intelligent Equipment, Tianjin University of Technology and Education, Tianjin 300222, China
Tianjin Key Laboratory of Intelligent Robot Technology and Application Affiliation, Tianjin 300222, China
College of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, China
Funding
Tianjin Municipal Education Commission · Tianjin Key Research and Development Program Projects
References (24)
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