Path Planning and Collision Avoidance for a Multi-Arm Space Maneuverable Robot
- 31 August 2017
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Aerospace and Electronic Systems
- Vol. 54 (1), 217-232
- https://doi.org/10.1109/taes.2017.2747938
Abstract
In this paper, a path planning algorithm for a multi-arm space robot is proposed. The robot is capable of maneuvering on the exterior of a large space station. Based on the maneuver strategy, continuous and smooth trajectories of the manipulator end effectors are first determined via the polynomial interpolation method. Then, the kinematics describing the relationship between the end effector and the joint angles, as well as the platform, are formulated. A Moore-Penrose pseudoinverse solution of the joint trajectories is calculated to describe the motion of the manipulators, particularly considering the singularity avoidance. In addition, a collision detection algorithm is developed to estimate the security during operation. Constraints are formulated by considering collision avoidance, based on which a collision-free trajectory is optimized through the multiplier-penalty method. The numerical results of a simulation involving a triple-arm space robotic system are given to demonstrate the effectiveness of the proposed algorithms.Keywords
This publication has 33 references indexed in Scilit:
- Overall Motion Planning for Kinematically Redundant Parallel ManipulatorsJournal of Mechanisms and Robotics, 2012
- Collision free path-planning for cable-driven parallel robotsRobotics and Autonomous Systems, 2009
- Dextre: Improving maintenance operations on the International Space StationActa Astronautica, 2009
- A variational approach to path planning for hyper-redundant manipulatorsRobotics and Autonomous Systems, 2009
- A study on co‐operative motion planning of a dual manipulator system for measuring radioactivityIndustrial Robot: the international journal of robotics research and application, 2008
- Theoretical and numerical constraint-handling techniques used with evolutionary algorithms: a survey of the state of the artComputer Methods in Applied Mechanics and Engineering, 2002
- Robot-aided remote inspection experiment on STS-85IEEE Transactions on Aerospace and Electronic Systems, 2000
- A fast algorithm for distance calculation between convex objects using the optimization approachRobotica, 1996
- Planning near-minimum-length collision-free paths for robotsIEEE Transactions on Systems, Man, and Cybernetics, 1993
- Chaotic zero dynamics in kinematically redundant robotsIEEE Transactions on Aerospace and Electronic Systems, 1991