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| Content Provider | Springer Nature Link |
|---|---|
| Author | Zhou, D. Zhang, Q. Liu, S. |
| Copyright Year | 2014 |
| Abstract | 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. |
| Starting Page | 31 |
| Ending Page | 39 |
| Page Count | 9 |
| File Format | |
| ISSN | 22500545 |
| Journal | Journal of The Institution of Engineers (India): Series C |
| Volume Number | 95 |
| Issue Number | 1 |
| e-ISSN | 22500553 |
| Language | English |
| Publisher | Springer India |
| Publisher Date | 2014-03-18 |
| Publisher Place | India |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Obstacle avoidance Artificial potential field method Industrial and Production Engineering Path planning Mechanical Engineering Aerospace Technology and Astronautics Space manipulator |
| Content Type | Text |
| Resource Type | Article |
| Subject | Ocean Engineering Industrial and Manufacturing Engineering Mechanical Engineering Aerospace Engineering |
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