Open document
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General information |
| Author |
Chen, Gang; Zhang, Long; Jia, Qingxuan; Chu, Ming; Sun, Hanxu |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
In this paper, a repetitive motion‐planning
scheme of free‐floating space manipulators is presented.
Repetitive motion means when one task ends, the endeffector
pose, the joint angles and the base pose should
reset (return to their initial value), which will facilitate the
subsequent tasks. First, due to the lack of DOF , an order
of priority to the given tasks is introduced. Second, the
joint reset optimization operator, the base attitude reset
optimization operator and the end‐effector attitude reset
optimization operator are designed. Then, the repetitive
motion scheme is proposed by combining the three
optimization operators above in a creative way. Finally,
to make the optimization of repetitive motion obvious,
the base attitude maintenance is also considered.
Simulation results verify the correctness and the validity
of the repetitive motion planning method of space
manipulator. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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