期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/56402
语种：English
出版社：SAGE Publications
摘要：In this paper, a repetitive motion-planning scheme of free-floating space manipulators is presented. Repetitive motion means when one task ends, the end-effector 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.
