Path planning of free-floating space robot in Cartesian space is studied in the paper. Firstly the joint functions are parameterized by polynomials. Then the system of nonlinear equations about the parameters is established by integrating the differential kinematics equations. The problem of the path planning reduces to the resolution of the system of nonlinear equations, which can be solved by iterative Newtonian method. Since direct kinematics equations are used to determine the path of the manipulator joints, the problems with respect to dynamic singularities are avoided. After normalization of the joint functions, the boundary of the parameters to be defined is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the time tf. Finally, a general method to solve the problem of the path planning is proposed, which takes the constraints on joint velocity and acceleration into account. Modification of tf may not result in the recalculation of the parameters. The numerical simulation shows the validity ofthe method proposed in the paper.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Untersuchung der Bahnplanung eines freischwebenden Raumroboters im kartesischen Raum


    Contributors:
    Xu, Wenfu (author) / Liang, Bin (author) / Li, Cheng (author) / Qiang, Wenyi (author) / Huang, Panfeng (author) / Xu, Yangsheng (author)


    Publication date :

    2005


    Size :

    6 Seiten, 8 Bilder, 2 Tabellen, 14 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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

    Xu, Wenfu / Li, Cheng / Wang, Xueqian et al. | Tema Archive | 2009



    Safe path planning for free-floating space robot to approach noncooperative spacecraft

    Zhang, Fuhai / Fu, Yili / Zhu, Shan et al. | SAGE Publications | 2018


    RESEARCH ON PATH PLANNING OF FREE-FLOATING SPACE ROBOT BASED ON DUAL MODE SWITCHING

    Zhu, Zhanxia / Yu, Sigang / Zhang, Guanghui et al. | TIBKAT | 2020


    Singularity robust path planning for real time base attitude adjustment of free-floating space robot

    Zhou, C. / Jin, M. H. / Liu, Y. C. et al. | British Library Online Contents | 2017