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 Bezier 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 – Contro...
['Haitao Yang', 'Zongwu Xie', 'Cao Li', 'Xiaoyu Zhao', 'Minghe Jin']
Path optimization of excavating manipulator in lunar soil sampling