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：2018
卷号：15
期号：6
DOI：10.1177/1729881418816557
出版社：SAGE Publications
摘要：To avoid the saturation of momentum wheels and the harm due to the thruster plume during the on-orbital manipulation, space robots usually stay in a free-floating state which follows the linear and angular momentum conservation leading to a kinematic coupling effect of the satellite base and the space manipulator. Emphasizing the stability of satellite base and execution safety, it is significant to minimize the kinematic coupling effect as well as avoid obstacles in the environment. Nevertheless, coupling minimization and obstacles avoidance are considered separately in previous work. By applying a hybrid map in the Configuration space, this article proposes a unified method dealing with the above two problems together. First, coupling factors are defined to evaluate the kinematic coupled effect which can be described by a coupling map; second, an obstruction map is generated by transforming obstacles in the Cartesian space to the Configuration space; the proposed hybrid map is finally generated from an overlay of a coupling map and an obstruction map. Numerical simulations verify the effectiveness of the method on a two degree-of-freedom planar space robot.
