Multi-arm Motion Planning of Beijing Astronaut Robot

Hui Li; Bowen Qin; Zhihong Jiang; Marco Ceccarelli

doi:10.1007/978-3-030-20131-9_284

Multi-arm Motion Planning of Beijing Astronaut Robot

Hui Li, Bowen Qin, Zhihong Jiang^*, Marco Ceccarelli

^*此作品的通讯作者

机电学院

科研成果: 期刊稿件 › 文章 › 同行评审

摘要

Considering the special configuration of the space station multi-arm bionic robot, a two-arm/three-arm coordinated operation mode are proposed which greatly improves efficiency of movement of the robot. Aiming at the robot’s two-arm coordinated motion to form a redundant degree of freedom manipulator, a global trajectory optimization method based on spatial meshing is pro-posed, which effectively reduces the maximum joint motion speed of the robot and provides an effective technical approach for the mobile space planning inside and outside the robot space station.

源语言	英语
页（从-至）	2873-2882
页数	10
期刊	Mechanisms and Machine Science
卷	73
DOI	https://doi.org/10.1007/978-3-030-20131-9_284
出版状态	已出版 - 2019

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title = "Multi-arm Motion Planning of Beijing Astronaut Robot",

abstract = "Considering the special configuration of the space station multi-arm bionic robot, a two-arm/three-arm coordinated operation mode are proposed which greatly improves efficiency of movement of the robot. Aiming at the robot{\textquoteright}s two-arm coordinated motion to form a redundant degree of freedom manipulator, a global trajectory optimization method based on spatial meshing is pro-posed, which effectively reduces the maximum joint motion speed of the robot and provides an effective technical approach for the mobile space planning inside and outside the robot space station.",

keywords = "Astronaut Robot, Multi-arm, Trajectory optimization",

author = "Hui Li and Bowen Qin and Zhihong Jiang and Marco Ceccarelli",

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year = "2019",

doi = "10.1007/978-3-030-20131-9_284",

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T1 - Multi-arm Motion Planning of Beijing Astronaut Robot

AU - Li, Hui

AU - Qin, Bowen

AU - Jiang, Zhihong

AU - Ceccarelli, Marco

PY - 2019

Y1 - 2019

N2 - Considering the special configuration of the space station multi-arm bionic robot, a two-arm/three-arm coordinated operation mode are proposed which greatly improves efficiency of movement of the robot. Aiming at the robot’s two-arm coordinated motion to form a redundant degree of freedom manipulator, a global trajectory optimization method based on spatial meshing is pro-posed, which effectively reduces the maximum joint motion speed of the robot and provides an effective technical approach for the mobile space planning inside and outside the robot space station.

AB - Considering the special configuration of the space station multi-arm bionic robot, a two-arm/three-arm coordinated operation mode are proposed which greatly improves efficiency of movement of the robot. Aiming at the robot’s two-arm coordinated motion to form a redundant degree of freedom manipulator, a global trajectory optimization method based on spatial meshing is pro-posed, which effectively reduces the maximum joint motion speed of the robot and provides an effective technical approach for the mobile space planning inside and outside the robot space station.

KW - Astronaut Robot

KW - Multi-arm

KW - Trajectory optimization

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JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Multi-arm Motion Planning of Beijing Astronaut Robot

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