TY - GEN
T1 - Coordinated path planning strategy for dual-arm space robot using b spline
AU - Wang, M.
AU - Luo, J.
AU - Yuan, J.
AU - Zhang, J.
AU - Walter, U.
N1 - Publisher Copyright:
© 2017 International Astronautical Federation IAF. All rights reserved.
PY - 2017
Y1 - 2017
N2 - In this paper, a coordinated path planning strategy by fully exploiting the dynamic coupling effect between the kinematically redundant dual-arm robot and spacecraft based is presented to cope with different objectives. The reason for choosing kinematically redundant manipulator is the existence of infinite solutions which can be employed to fulfil additional constraints, such as regulating base attitude, or collision avoidance, and so on. B spline curve for its simplicity and normalization is chosen to delineate the end-effector's path in task-space. The path constraints of the end-effectors are satisfied through determination of the path execution time. On that basis, motion coordination of the dual-arm space robot is implemented in the framework of the task-priority based redundancy resolution.
AB - In this paper, a coordinated path planning strategy by fully exploiting the dynamic coupling effect between the kinematically redundant dual-arm robot and spacecraft based is presented to cope with different objectives. The reason for choosing kinematically redundant manipulator is the existence of infinite solutions which can be employed to fulfil additional constraints, such as regulating base attitude, or collision avoidance, and so on. B spline curve for its simplicity and normalization is chosen to delineate the end-effector's path in task-space. The path constraints of the end-effectors are satisfied through determination of the path execution time. On that basis, motion coordination of the dual-arm space robot is implemented in the framework of the task-priority based redundancy resolution.
KW - B spline
KW - Coordinated path planning
KW - Task-priority
UR - http://www.scopus.com/inward/record.url?scp=85051530889&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85051530889
SN - 9781510855373
T3 - Proceedings of the International Astronautical Congress, IAC
SP - 791
EP - 797
BT - 68th International Astronautical Congress, IAC 2017
PB - International Astronautical Federation, IAF
T2 - 68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017
Y2 - 25 September 2017 through 29 September 2017
ER -