Iterative action generation based task planning for Space Macro-Micro Manipulator

The space macro-micro manipulator in orbit has the characteristics of complex motions and large span. In the time-multiplexed independent motion mode, there are more motion combinations of macro-micro manipulators, which makes it difficult to generate action sequences of macro-micro manipulators. Therefore, this paper proposes a macro-micro manipulator task planning method based on the action iteration strategy, which determines the action information and execution order of the macro-micro manipulators. Firstly, according to the characteristics of on-orbit tasks and the motion of macromicro manipulators, a task representation is constructed, and an evaluation function for the action sequence of macro-micro manipulators is designed. Secondly, a similarity evaluation index for macro manipulators is constructed, and a macromicro manipulator action planning method that integrates iterative and clustering methods is designed. Finally, a series of experiments prove that the proposed algorithm can effectively handle on-orbit tasks with many operational steps and complex constraints. Compared with existing algorithms, this algorithm can reduce the number of macro-micro manipulator actions by 17% and reduce the execution time of macro-micro manipulators by 27%, effectively improving the task execution efficiency of macro-micro manipulators.