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.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Study on non-holonomic cartesian path planning of a free-floating space robotic system


    Weitere Titelangaben:

    Untersuchung der nicht-holonomen kartesischen Wegplanung eines frei-schwebenden Raumfahrt-Robotersystems


    Beteiligte:
    Xu, Wenfu (Autor:in) / Li, Cheng (Autor:in) / Wang, Xueqian (Autor:in) / Liang, Bin (Autor:in) / Xu, Yangsheng (Autor:in)

    Erschienen in:

    Advanced Robotics ; 23 , 1/2 ; 113-143


    Erscheinungsdatum :

    2009


    Format / Umfang :

    31 Seiten, 18 Bilder, 1 Tabelle, 39 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





    Study of path planning of free-floating space robot in Cartesian space

    Xu, Wenfu / Liang, Bin / Li, Cheng et al. | Tema Archiv | 2005


    Multi-waypoint-based path planning for free-floating space robots

    Zhao S. / Siciliano B. / Zhu Z. et al. | BASE | 2019

    Freier Zugriff


    An FM*-Based Comprehensive Path Planning System for Robotic Floating Garbage Cleaning

    Kong, Shihan / Wu, Zhengxing / Qiu, Changlin et al. | IEEE | 2022