| Dual-manipulator Coordinate Motion Planning Scheme for Robot Satellite |
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| 作者姓名： | 刘宏 洪炳熔 蔡鹤皋 |
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| 作者单位： | Dept. of Computer Science and Engineering，Harbin institute of Technology，Harbin，150001，China |
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| 摘 要： | Ｄｕａｌ－ｍａｎｉｐｕｌａｔｏｒＣｏｏｒｄｉｎａｔｅＭｏｔｉｏｎＰｌａｎｎｉｎｇ ＳｃｈｅｍｅｆｏｒＲｏｂｏｔＳａｔｅｌｌｉｔｅＬＩＵＨｏｎｇ；ＨＯＮＧＢｉｎｇｒｏｎｇ；ＣＡＩＨｅｇａｏ（刘宏）（洪炳熔）（蔡鹤皋）（Ｄｅｐｔ．ｏｆＣｏｍｐｕｔｅｒＳｃ...
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Dual-manipulator Coordinate Motion Planning Scheme for Robot Satellite |
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| LIU Hong, HONG Bingrong, CAI Hegao.Dual-manipulator Coordinate Motion Planning Scheme for Robot Satellite[J].Journal of Harbin Institute of Technology,1996(3). |
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| Authors: | LIU Hong HONG Bingrong CAI Hegao |
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| Abstract: | A scheme of dual-manipulator coordination motion planning for robot satellite (RS) is proposed.Based on the analysis of RS motion characteristics in micro-gravity environment, two manipulators are divided into main manipulator and assistant manipulator. Then, four kinds of coordination modes for dual-manipulator RS, namely,stablizing function, counterbalancing function, adjusting function and coorperative operation are presented. Motion planning algorithm for dual-manipulator is also presented.Finally, computer simulation results of the four kinds of coordination modes for a RS experimental model capturing target operation in micro-gravity environment are given.Simulation experiments show that the coordination modes and planning algorithm proposed in this paper are effective. |
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| Keywords: | ss: Robot satellite motion planning dual-manipulator coordination configuration space micro-gravity environment |
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