| 自由浮动空间机械手的无碰撞路径规划 |
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| 引用本文： | 呈为民. 自由浮动空间机械手的无碰撞路径规划[J]. 机械科学与技术, 1997, 16(5): 838-841,855 |
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| 作者姓名： | 呈为民 |
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| 作者单位： | 浙江大学 |
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| 摘 要： | 对自由浮动空间机械手无碰撞路径规划问题的特殊性及应采取的策略进行了分析和探讨。据此，本文提出一种位姿空间量化建模方法，并以此建模方法为基础描述了自由浮动空间机械手无碰撞路径规划的一种实现方法。
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| 关 键 词： | 自由浮动空间机械手 无碰撞路径规划 位姿空间 启发式搜索 |
Collision free Path Planning for Space Manipulators |
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| Wu Weimin. Collision free Path Planning for Space Manipulators[J]. Mechanical Science and Technology for Aerospace Engineering, 1997, 16(5): 838-841,855 |
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| Authors: | Wu Weimin |
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| Abstract: | This paper firstly analyses specificities of collision free path planning problem of free floating space manipulators, discusses the corresponding strategies that should be adopted. Then a configuration space quantization modelling method is presented, and based on the modelling method, a detailed implementation method for collision free path planning of free floating space manipulator is descirbed. |
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| Keywords: | Free floating space manipulator Collision free path planning Configuration space Heuristic searching |
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