Design and Optimization of Non-Coplanar Orbits for Orbital Photovoltaic Panel Cleaning Robots

Abstract

Aiming at the problem that it is difficult for an orbital photovoltaic panel cleaning robot to span a large distance between photovoltaic panels, a method of designing and optimizing a non-coplanar orbit based on Bezier curves is proposed. Firstly, the robot’s motion law is analyzed to obtain trajectory data for a single work cycle. Then, Bezier curves are utilized for trajectory design to ensure a smooth transition during the spanning motion phase. Thirdly, with the average value of the minimum distance between the Bezier curve and the point set data of the spanning motion phase as the optimization objective function, the nonlinear planning based on the SQP algorithm was adopted for the optimization of the upper and lower trajectories. Finally, the results of the case calculations indicate that the standard deviation of the optimized upper and lower trajectories was reduced by 35.63% and 40.57%, respectively. Additionally, the ADAMS simulation validation demonstrates that the trajectory errors of the four wheels decreased by a maximum of 8.79 mm, 23.78 mm, 10.11 mm, and 14.97 mm, respectively, thereby confirming the effectiveness of the trajectory optimization.

Keywords

• non-coplanar orbits
• Bezier curves
• smoothing
• nonlinear programming
• dynamic simulation