航天器工程2011，Vol.20Issue(4)：65-71,7.
七自由度空间机械臂避障路径规划方法
Research on Path Planning for 7-DOF Space Manipulator to Avoid Obstacle
摘要
Abstract
An obstacle avoidance path planning method is proposed for 7-DOF space manipulator to meet demands of in-orbit mission for capturing target.The content of the method is listed as follows.Firstly,based on the geometric characteristics of manipulator and obstacle,the model of manipulator and obstacle is simplified.Secondly,on the basis of the inherent geometric characteristics of manipulator,and according to the position and orientation coordinates of obstacle,the collision conditions of all manipulator＇s links are analyzed.Then,the collision-free motion space of space manipulator is obtained.Thirdly,on this basis,the optimal collision-free path of 7-DOF space manipulator is acquired in the collision-free motion space with A＊ algorithm.Thereby,the obstacle avoidance path planning is achieved.Finally,the effectiveness and feasibility of the proposed method is verified by simulation.关键词
空间机械臂/工作空间/七自由度/避障路径规划/A＊算法/仿真Key words
space manipulator/workspace/7-DOF/obstacle avoidance path planning/A＊ algorithm/simulation分类
航空航天引用本文复制引用
杨明远,孙汉旭,贾庆轩,陈钢..七自由度空间机械臂避障路径规划方法[J].航天器工程,2011,20(4):65-71,7.基金项目
中国教育和科研计算机网络中心资助的“教育科研基础设施IPv6技术升级与应用示范”项目的子项目“下一代互联网虚拟现实科研交流平台应用示范” （）
中央高校基本科研业务费资助（2009RC0603） 中央高校基本科研业务费专项资金 （）
