资 源 简 介
应用背景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 based on the
Generalized Jacobian Matrix for planning a collision-free motion of space
manipulator. At the end of the article, we verify the validity of the proposed
method by simulating to the method mentioned above关键
