基于人工势场的六自由度空间机械臂避障路径
2016-08-23
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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
matlab
机械
基于
路径
空间
人工
自由度
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