基于人工势场的六自由度空间机械臂避障路径

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