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.


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    Title :

    Trajectory Generation with Load Constraints for Robotic Manipulators


    Contributors:

    Conference:

    AIAA ASCEND ; 2023 ; Las Vegas, NV, US


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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