Research on Path Planning Method of Spatial Redundant Manipulator

被引：0
|
作者：
Qi Z.-G. [1 ,2 ]
Huang P.-F. [1 ,2 ]
Liu Z.-X. [1 ,2 ]
Han D. [1 ,2 ,3 ]
机构：
[1] Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an
[2] National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an
[3] College of Physics and Information Engineering, Shanxi Normal University, Linfen
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2019年 / 45卷 / 06期
基金：
中国国家自然科学基金; 国家杰出青年科学基金;
关键词：
A* path planning algorithm; Arm angle; Inverse kinematics; Redundant manipulator;
D O I：
10.16383/j.aas.c180191
中图分类号：
学科分类号：
摘要：
Aiming at safety and reliability of the space station remote manipulator (SSRMS) type 7DOF redundant manipulator's path planning, an optimized A* path planning algorithm is proposed based on the inverse kinematics of arm angle. This paper improves the method of inverse solution based parameterized arm angle, and obtains 32 sets of complete inverse solutions, which increases flexibility of inverse solution selection in path planning, optimizes the method of A* path planning based on arm angle search and minimum singular value, which increases ability to avoid obstacle and singularity, flexibility of manipulator operation, safety and reliability. At the same time, according to the path optimization strategy, the path is efiectively smoothed to reduce the wear of the manipulator. The simulation shows the efiectiveness of the method. Copyright © 2019 Acta Automatica Sinica. All rights reserved.
引用
收藏
页码：1103 / 1110
页数：7
相关论文
共 24 条
  • [1] Liang B., Xu W.-F., Li C., The status and prospect of orbital servicing in the Geostationary orbit, Journal of Astronautics, 31, 1, pp. 1-13, (2010)
  • [2] Coleshill E., Oshinowo L., Rembala R., Bina B., Rey D., Sindelar S., Dextre: improving maintenance operations on the International Space Station, Acta Astronautica, 64, 9-10, pp. 869-874, (2009)
  • [3] Boumans R., Heemskerk C., The European robotic arm for the International Space Station, Robotics and Autonomous Systems, 23, 1-2, pp. 17-27, (1998)
  • [4] Shimizu M., Kakuya H., Yoon W.K., Kitagaki K., Kosuge K., Analytical inverse kinematic computation for 7-DOF redundant manipulators with joint limits and its application to redundancy resolution, IEEE Transactions on Robotics, 24, 5, pp. 1131-1142, (2008)
  • [5] Fang C., Ding X.-L., Anthropomorphic arm kinematics oriented to movement primitive of human arm triangle, Robot, 34, 3, pp. 257-264, (2012)
  • [6] Singh G.K., Claassens J., An analytical solution for the inverse kinematics of a redundant 7DOF manipulator with link ofisets, Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2976-2986, (2010)
  • [7] Yu C., Jin M.H., Liu H., An analytical solution for inverse kinematic of 7-DOF redundant manipulators with ofisetwrist, Proceedings of the 2012 IEEE International Conference on Mechatronics and Automation, pp. 92-97, (2012)
  • [8] Crane C.D., Dufiy J., Carnahan T., A kinematic analysis of the Space Station Remote Manipulator system (SSRMS), Journal of Robotic Systems, 8, 5, pp. 637-658, (1991)
  • [9] Xu W.-F., Zhang J.-T., Yan L., Wang Z.-Y., Parameterized inverse kinematics resolution method for a redundant space manipulator with link ofiset, Journal of Astronautics, 36, 1, pp. 33-39, (2015)
  • [10] Kreutz-Delgado K., Long M., Seraji H., Kinematic analysis of 7-DOF manipulators, The International Journal of Robotics Research, 11, 5, pp. 469-481, (1992)
123