{'fraction_non_alphanumeric': 0.03259361997226075, 'fraction_numerical': 0.0006934812760055479, 'mean_word_length': 5.711627906976744, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Multi-Objective Trajectory Planning of FFSM Carrying a Heavy Payload

Aiming at carrying a heavy payload to a desired pose (including position and orientation), a multi-objective optimization-based approach for maximum-payload trajectory planning of free-floating space manipulators (FFSM) is proposed in this paper. The presented approach corresponds to two typical applications: (i) the manipulator joints attain the desired states; (ii) the inertial pose of the end-effector (pose with respect to the inertial frame) attains the desired values, for which a novel two-stage method is presented. Firstly, for the purpose of reducing computational complexity, dynamics equations are derived using a spatial operator algebra (SOA) method. Secondly, objective functions are defined according to the improvement of load-carrying capacity and pose requirements of the end-effector. Then, the joint trajectories are specified using sinusoidal polynomial functions. Finally, a multi-objective particle optimization (MOPSO) algorithm is employed to obtain a non-dominated solution set, during which process particles that do not satisfy the constraints are eliminated. Simulations are performed for a 7-DOF FFSM, considering three and five objectives for optimization in the two applications, respectively. The results demonstrate that the proposed approach can provide satisfactory joint trajectories and improve load-carrying capacity effectively.