Motion Planning Algorithm and Simulation for Space Manipulators

Motion Planning Algorithm and Simulation for Space Manipulators

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摘要 The specificities of collision-free path planning of space manipulators are analyzed. Path planning strategies are presented in consideration of these specificities, and an implementation procedure is also described in detail according to these strategies. ＭｏｔｉｏｎＰｌａｎｎｉｎｇＡｌｇｏｒｉｔｈｍａｎｄＳｉｍｕｌａｔｉｏｎｆｏｒＳｐａｃｅＭａｎｉｐｕｌａｔｏｒｓ￥ＷＵＷｅｉｍｉｎ；ＨＯＮＧＢｉｎｇｒｏｎｇ；ＬＩＵＨｏｎｇ；ＷＵＷｅｉ（吴为民，洪炳熔，刘宏，吴葳）（Ｄｅｐｔ．ｏｆＣｏｍｐｕｔｅｒＳｃ...

作者吴为民洪炳熔刘宏吴葳

出处《Journal of Harbin Institute of Technology(New Series)》 EI CAS 1996年第2期40-44,共5页 哈尔滨工业大学学报（英文版）

关键词 ss: SPACE MANIPULATOR collision-free PATH planning configuration SPACE graph SEARCHING ss: Space manipulator, collision-free path planning, configuration space, graph searching

分类号 TP15 [自动化与计算机技术—控制理论与控制工程]

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Journal of Harbin Institute of Technology(New Series)

1996年第2期

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Motion Planning Algorithm and Simulation for Space Manipulators

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