The demands for efficiency and stability in space missions have necessitated the development of sequence planning schemes for on-orbit robotic assembly of space structures. A sequence planning method is proposed in this work based on robotic kinematic analysis and Symbiotic Organisms Search (SOS) algorithm with a diversification strategy. With feasibility as the constraint and assembly cost as the objective function, the assembly sequence planning is regarded as an optimization problem. The assembly relationship constraint is depicted as the dependency between assembly steps represented by a directed acyclic graph. An abstract modeling method based on robotic kinematics is proposed to construct geometric feasibility constraint, accommodating the interference stemming from the multi-degree-of-freedom motion of the robotic system. A diversification strategy is exploited to address the issue of local optima arising from solving the optimal sequence based on SOS. A cost prediction method using previously calculated populations as samples is proposed to reduce the reliance on robotic dynamic analysis for cost calculation. Finally, simulations are carried out to validate the practicability of the proposed method.

中文翻译：

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基于多样化策略共生生物搜索的在轨机器人装配序列规划


太空任务对效率和稳定性的要求使得有必要开发空间结构在轨机器人组装的序列规划方案。本文提出了一种基于机器人运动学分析和具有多样化策略的共生生物搜索（SOS）算法的序列规划方法。以可行性为约束，以装配成本为目标函数，将装配顺序规划视为优化问题。装配关系约束被描述为由有向无环图表示的装配步骤之间的依赖性。提出了一种基于机器人运动学的抽象建模方法来构造几何可行性约束，以适应机器人系统多自由度运动产生的干扰。采用多样化策略来解决基于SOS求解最优序列时出现的局部最优问题。提出了一种使用先前计算的群体作为样本的成本预测方法，以减少对成本计算的机器人动态分析的依赖。最后进行仿真验证所提方法的实用性。