关键词: 塔式太阳能热发电, 机械臂, 多目标优化, 粒子群优化, 最优轨迹规划, 定日镜清洁

Abstract: Taking the vehicle-mounted cleaning mobile manipulator for cleaning the surface of the heliostat in the tower solar thermal power station as the research object, considering the cleaning efficiency of the manipulator and the vibration and wear problems during the movement, a time-impact optimal trajectory planning method of the manipulator is proposed, which optimizes its time and impact to improve the working efficiency of the manipulator and extend its service life. Using the position-time sequence of the joint space, an interpolation curve is constructed in the joint space using the quintic B-spline function. The angular velocity, angular acceleration and angular jerk of the manipulator joints are used as constraints, and the improved multi-objective particle swarm optimization （MO-PSO）algorithm is used to solve the objective function. And finally the multi-objective optimization is transformed into a single objective optimization by constructing a normalized weighted objective function to obtain the optimal solution. Simulation analysis shows that this method can improve the working efficiency of the manipulator and reduce wear and vibration.

Key words: tower solar thermal power station, manipulators, multi-objective optimization, particle swarm optimization （PSO）, optimal trajectory planning, heliostat cleaning