Research on Path Planning for 7-DOF Space Manipulator to Avoid Obstacle
Chen Gang · Spacecraft Engineering · 2011
An obstacle avoidance path planning method is proposed for 7-DOF space manipulator to meet demands of in-orbit mission for capturing target.The content of the method is listed as follows.Firstly,based on the geometric characteristics of manipulator and obstacle,the model of manipulator and obstacle is simplified.Secondly,on the basis of the inherent geometric characteristics of manipulator,and according to the position and orientation coordinates of obstacle,the collision conditions of all manipulator's links are analyzed.Then,the collision-free motion space of space manipulator is obtained.Thirdly,on this basis,the optimal collision-free path of 7-DOF space manipulator is acquired in the collision-free motion space with A* algorithm.Thereby,the obstacle avoidance path planning is achieved.Finally,the effectiveness and feasibility of the proposed method is verified by simulation.