Pseudospectral Convex Programming for Free-Floating Space Manipulator Path Planning

Pseudospectral Convex Programming for Free-Floating Space Manipulator Path Planning

To efficiently plan the point-to-point path for a 7-degrees-of-freedom (7-DOF) free-floating space manipulator system, a path planning method based on Legendre pseudospectral convex programming (LPCP) is proposed. First, the non-convex dynamics are approximated by utilizing the first-order Taylor ex...

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Bibliographic Details
Main Authors: Danyi Li, Yinkang Li, Xu Liu, Bin Yang, Xuxing Huang, Yong Yang, Bingheng Wang, Shuang Li
Format: Article
Language:English
Published: American Association for the Advancement of Science (AAAS) 2023-01-01
Series:Space: Science & Technology
Online Access:https://spj.science.org/doi/10.34133/space.0030

Internet

https://spj.science.org/doi/10.34133/space.0030

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