The non-holonomic characteristic of a free-floating space robotic system is used to plan the path of the manipulator joints, by whose motion the base attitude and the inertial po.se (the position and orientation with respect to the inertial frame) of the end-effector attain the desired values. First, the kinematic equations of a free-floating space robot are simplified and the system state variables are transformed to another form composed of base attitude and joint angles. Then, the joint trajectories are parameterized using sinusoidal functions, whose arguments are seven-order polynomials. Third, the planning problem is transformed to an optimization problem; the cost function, defined according to the accuracy requirements of system variables, is the function of the parameters to be determined. Finally, the particle swarm optimization (PSO) algorithm is used to search the solutions of the parameters that determine the joint trajectories. The presented method meets three typical applications: (i) point-to-point maneuver of the end-effector without changing the base attitude, (ii) attitude maneuver of the base without changing the end-effector's pose and (iii) point-to-point maneuver of the end-effector with adjusting the base attitude synchronously. The simulation results of a spacecraft with a 6-d.o.f. manipulator verify the performance and the validity of the proposed method.
Study on non-holonomic cartesian path planning of a free-floating space robotic system
Untersuchung der nicht-holonomen kartesischen Wegplanung eines frei-schwebenden Raumfahrt-Robotersystems
Advanced Robotics ; 23 , 1/2 ; 113-143
2009
31 Seiten, 18 Bilder, 1 Tabelle, 39 Quellen
Aufsatz (Zeitschrift)
Englisch
Study of path planning of free-floating space robot in Cartesian space
Tema Archiv | 2005
|Prototyping Non-holonomic Hovercraft for Path Planning and Obstacle Avoidance
BASE | 2019
|