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

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

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’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.

Original language	English
Pages (from-to)	2873-2882
Number of pages	10
Journal	Mechanisms and Machine Science
Volume	73
DOIs	https://doi.org/10.1007/978-3-030-20131-9_284
Publication status	Published - 2019

Keywords

Astronaut Robot
Multi-arm
Trajectory optimization

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

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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",

language = "English",

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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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U2 - 10.1007/978-3-030-20131-9_284

DO - 10.1007/978-3-030-20131-9_284

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SN - 2211-0984

VL - 73

SP - 2873

EP - 2882

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Multi-arm Motion Planning of Beijing Astronaut Robot

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Keywords

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