Optimal Motion Planning for Free-Floating Space Robots based on Null Space Approach

被引：1
|
作者：
Shui, Haitao [1 ]
Wang, Jianwen [1 ]
Ma, Hongxu [1 ]
机构：
[1] Natl Univ Def Technol, Coll Electromech Engn & Automat, Changsha, Hunan, Peoples R China
来源：
2009 INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION, VOL II | 2009年
关键词：
free-floating space robot; kinematics; null space; optimal motion planning;
D O I：
10.1109/ICMTMA.2009.556
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The kinematics of a free-floating space robot(FFSR) is more complex than that of a fixed-base robot, and hence its motion planning is more difficult. In this paper, the kinematics of the FFSR is introduced firstly. Then the null space approach is used to reparameterize the path: the direction and magnitude are decoupled and no direction error is introduced. And the Newton iterative method is adopted to find the optimal magnitude of the joint velocity. A plannar FFSR with a 2 DOFs manipulator is selected to test the algorithm and simulation results illustrate that the path following is realized prisely. Finatly, deficiencies of the method and prospecsts for the future are summarized.
引用
收藏
页码：845 / 848
页数：4
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