ArticleMicromachines2021
Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm.
Article in Micromachines, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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Who cites it
1 citing paper in PubMed.
- Non-Standard Map Robot Path Planning Approach Based on Ant Colony Algorithms.Sensors (Basel, Switzerland) · 2023Article
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3 authors.
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Abstract
In order to avoid damage to service satellites and targets during space missions and improve safety and reliability, it is necessary to study how to eliminate or reduce the rotation of targets. This paper focused on a space detumbling robot and studied the space detumbling robot dynamics and robot arm deployment path planning. Firstly, a certain space detumbling robot with a 'platform + manipulator + end effector' configuration is proposed. By considering the end effector as a translational joint, the entire space detumbling robot is equivalent to a link system containing six rotating joints and three translational joints, and the detailed derivation process of the kinematic and dynamic model is presented. Then, ADAMS and MATLAB were used to simulate the model, and the MATLAB results were compared with the ADAMS results to verify the correctness of the model. After that, the robot arm deployment problem was analyzed in detail from the aspects of problem description, constraint analysis and algorithm implementation. An algorithm of robot arm deployment path planning based on the Bi-FMT* algorithm is proposed, and the effectiveness of the algorithm is verified by simulation.
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