Future large spacecraft will utilize robotic manipulators for in-space servicing, assembly, and manufacturing. Due to launch mass constraints, such manipulators will be designed to be as lightweight as possible. Trajectory generation algorithms will need to factor in load constraints to avoid overexerting and damaging manipulators. This paper investigates an approach that combines optimal Rapidly-exploring Random Trees, spline interpolation, and Model Predictive Control to generate a manipulator trajectory which respects load constraints.
Trajectory Generation with Load Constraints for Robotic Manipulators
AIAA ASCEND ; 2023 ; Las Vegas, NV, US
Aufsatz (Konferenz)
Keine Angabe
Englisch
Trajectory Generation for Robotic Manipulators
British Library Conference Proceedings | 1998
|Predictive joint trajectory scaling for manipulators with kinodynamic constraints
BASE | 2019
|Optimal Pointing Control of Robotic Manipulators with State Inequality Constraints
Online Contents | 1993
|