• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>International astronautical congress >Path Planning Algorithm for Obstacle Avoidance of Multi-arm Space Walking Robot
【24h】

Path Planning Algorithm for Obstacle Avoidance of Multi-arm Space Walking Robot

机译：多臂空间行走机器人避障的路径规划算法

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In this paper, a path planning algorithm for obstacle avoidance of a multi-arm space walking robot is proposed. The robotic system comprises a platform and three robotic arms, where two of three are utilized for walking, and the third one is used for on-orbit operating. To keep away from the obstacles, the trajectories of the manipulator end-effectors in the Cartesian space are firstly planned with respect to the particular geometry of the workcell with polynomial interpolation method. Then, based on the kinematics of manipulator, a Moore-Penrose pseudoinverse solution of the joint trajectories is calculated to describe the path of the manipulators. Collision detection is developed to judge whether the other rods of the manipulator crash the obstacle. In case of collision, a constrained optimization method is further executed to make for a better quality manipulator path. Numerical results of a triple-arm space robotic system are given to demonstrate the effectiveness of the proposed algorithms.
机译：提出了一种多臂空间行走机器人避障的路径规划算法。该机器人系统包括一个平台和三个机械臂，其中三个中的两个用于行走，而第三个则用于在轨操作。为了避开障碍物，首先通过多项式插值法针对工作单元的特定几何形状规划了笛卡尔空间中操纵器末端执行器的轨迹。然后，基于机械手的运动学，计算关节轨迹的Moore-Penrose伪逆解来描述机械手的路径。开发了碰撞检测功能，以判断机械手的其他杆是否撞到了障碍物。在发生碰撞的情况下，将进一步执行约束优化方法，以提供质量更好的机械手路径。给出了三臂空间机器人系统的数值结果，以证明所提出算法的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号