Path planning for a space robot using surface integral map

Shinji Hokamoto, Hajime Ohno

Research output: Contribution to conferencePaperpeer-review

Abstract

In this study, a path planning method combining the surface integral map with calculus of variation is proposed for a planar space robot with two rigid links mounted on a space vehicle. The procedure consists of two parts: one is global path planning based on the surface integral map, and the other is optimal path planning based on calculus of variation referring to the surface integral map. Since the surface integral map can be shown uniquely over the joint space, the proposed method makes path planning intuitive and easy. By using the method, the minimum-length-path that makes a specified variation in the vehicle's orientation can be developed systematically. Besides, the number of iterations for this method becomes quite less than that for other numerical searches.

Original languageEnglish
Pages432-437
Number of pages6
DOIs
Publication statusPublished - Jan 1 1998
EventAstrodynamics Specialist Conference and Exhibit, AIAA/AAS 1998 - Boston, United States
Duration: Aug 10 1998Aug 12 1998

Other

OtherAstrodynamics Specialist Conference and Exhibit, AIAA/AAS 1998
CountryUnited States
CityBoston
Period8/10/988/12/98

All Science Journal Classification (ASJC) codes

  • Astronomy and Astrophysics

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