Obstacle Avoidance Path Planning of Space Manipulator Based on Improved Artificial Potential Field Method

被引：35
|
作者：
Liu S. [1 ]
Zhang Q. [1 ]
Zhou D. [1 ]
机构：
[1] Key Laboratory of Advanced Design and Intelligent Computing (Dalian University), Ministry of Education, Dalian
来源：
Zhang, Q. (zhangq30@yahoo.com) | 1600年 / Springer卷 / 95期
关键词：
Artificial potential field method; Obstacle avoidance; Path planning; Space manipulator;
D O I：
10.1007/s40032-014-0099-z
中图分类号：
学科分类号：
摘要：
This paper proposes an approach about obstacle collision-free motion planning of space manipulator by utilizing a Configuration-Oriented Artificial Potential Field method in 3-D space environment. Firstly, the artificial potential field method, which is usually used in 2-D space, is extended to 3-D space. Secondly, improving the artificial potential field method enables to carry out obstacle avoidance planning for the configuration of entire space manipulator (including the end-effector and links). Finally, the approach is combined with the inverse kinematics calculation which is based on the Generalized Jacobian Matrix for planning a collision-free motion of space manipulator. At the end of the article, by simulating the method mentioned above, the validity of the proposed method is verified. © 2014, The Institution of Engineers (India).
引用
收藏
页码：31 / 39
页数：8
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