Configuration Planning of Space Cellular Robotic System

被引：0
|
作者：
Zhao, Hang [1 ]
Tian, Hao [1 ]
Zhao, Yang [1 ]
An, Dexiao [1 ]
机构：
[1] Harbin Inst Technol, Sch Astronaut, Harbin, Peoples R China
来源：
2019 IEEE 10TH INTERNATIONAL CONFERENCE ON MECHANICAL AND AEROSPACE ENGINEERING (ICMAE 2019) | 2019年
基金：
国家高技术研究发展计划(863计划);
关键词：
configuration planning; space robot; cellular robot; set corer problem; on-orbit assembly;
D O I：
10.1109/icmae.2019.8881008
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
Space Cellular Robotic System is a novel manipulating device which can replace space manipulator to realize on-orbit assembly, inspection, and maintenance of large space facilities. In this paper, the expressions system of Space Cellular Robotic System is defined, and the mathematical expressions of robot actions and configurations are established. Then an algorithm based on the minimum set covering problem is proposed to solve the configuration planning problem. Simulation and analysis show that the algorithm can realize the configuration planning with known configurations, and can give the reference of functions and parameters when new configuration design is needed.
引用
收藏
页码：285 / 291
页数：7
相关论文
共 50 条
  • [1] Key Techniques and Applications of Space Cellular Robotic System
    Zhao H.
    Zhao Y.
    Tian H.
    An D.-X.
    Yuhang Xuebao/Journal of Astronautics, 2018, 39 (10): : 1071 - 1080
  • [2] Homotopy based optimal configuration space reduction for anytime robotic motion planning
    Liu, Yang
    Zheng, Zheng
    Qin, Fangyun
    CHINESE JOURNAL OF AERONAUTICS, 2021, 34 (01) : 364 - 379
  • [3] Homotopy based optimal configuration space reduction for anytime robotic motion planning
    Yang LIU
    Zheng ZHENG
    Fangyun QIN
    Chinese Journal of Aeronautics , 2021, (01) : 364 - 379
  • [4] Motion Planning for a Continuum Robotic Mobile Lamp: Defining and Navigating the Configuration Space
    Hawks, Zachary
    Frazelle, Chase
    Green, Keith E.
    Walker, Ian D.
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, : 2559 - 2566
  • [5] Homotopy based optimal configuration space reduction for anytime robotic motion planning
    Yang LIU
    Zheng ZHENG
    Fangyun QIN
    Chinese Journal of Aeronautics, 2021, 34 (01) : 364 - 379
  • [6] Path Planning for Robotic Manipulators via Bubbles of Free Configuration Space: Evolutionary Approach
    Ademovic, Adnan
    Lacevic, Bakir
    2014 22ND MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2014, : 1323 - 1328
  • [7] THE CONFIGURATION SPACE OF A ROBOTIC ARM IN A TUNNEL
    Ardila, Federico
    Bastidas, Hanner
    Ceballos, Cesar
    Guo, John
    SIAM JOURNAL ON DISCRETE MATHEMATICS, 2017, 31 (04) : 2675 - 2702
  • [8] The configuration space of a robotic arm over a graph
    Denniston, Derric
    Muth, Robert
    Singh, Vikram
    DISCRETE MATHEMATICS ALGORITHMS AND APPLICATIONS, 2023, 15 (07)
  • [9] SPATIAL PLANNING - A CONFIGURATION SPACE APPROACH
    LOZANOPEREZ, T
    IEEE TRANSACTIONS ON COMPUTERS, 1983, 32 (02) : 108 - 120
  • [10] Path planning in distorted configuration space
    Chen, Chao
    ROBOTICA, 2017, 35 (07) : 1585 - 1597
12345