Task-Oriented Motion Planning of a Space Manipulator under Multiple Constraints
During task execution by a space manipulator, many factors need to be considered, such as joint motion range, external environment interference, running speed and task time. Studying the motion planning strategy under multi-constraint conditions is important for optimizing the task flow of the manip...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/11/5369 |
| _version_ | 1797494282150477824 |
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| author | Changchun Liang Dong Pan Gang Chen Pengfei Xin Xiaodong Zhang |
| author_facet | Changchun Liang Dong Pan Gang Chen Pengfei Xin Xiaodong Zhang |
| author_sort | Changchun Liang |
| collection | DOAJ |
| description | During task execution by a space manipulator, many factors need to be considered, such as joint motion range, external environment interference, running speed and task time. Studying the motion planning strategy under multi-constraint conditions is important for optimizing the task flow of the manipulator and improving the planning autonomy. Aiming at this, this paper proposes a method based on a hierarchical task network which has the ability to connect non-adjacent nodes of topology when generating the best path; it also carries out the control simulation of traditional path planning of a manipulator for typical tasks and the latter two working conditions using an optimal task planning method. The results show that this method is effective for realizing the Cartesian spatial task planning of a manipulator under multiple constraints and has important on-orbit application significance for improving the continuous autonomy of task completion. |
| first_indexed | 2024-03-10T01:32:07Z |
| format | Article |
| id | doaj.art-e9b07b26f13d42448346dc73b1a96406 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T01:32:07Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-e9b07b26f13d42448346dc73b1a964062023-11-23T13:40:33ZengMDPI AGApplied Sciences2076-34172022-05-011211536910.3390/app12115369Task-Oriented Motion Planning of a Space Manipulator under Multiple ConstraintsChangchun Liang0Dong Pan1Gang Chen2Pengfei Xin3Xiaodong Zhang4Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaBeijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaBeijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaBeijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaDuring task execution by a space manipulator, many factors need to be considered, such as joint motion range, external environment interference, running speed and task time. Studying the motion planning strategy under multi-constraint conditions is important for optimizing the task flow of the manipulator and improving the planning autonomy. Aiming at this, this paper proposes a method based on a hierarchical task network which has the ability to connect non-adjacent nodes of topology when generating the best path; it also carries out the control simulation of traditional path planning of a manipulator for typical tasks and the latter two working conditions using an optimal task planning method. The results show that this method is effective for realizing the Cartesian spatial task planning of a manipulator under multiple constraints and has important on-orbit application significance for improving the continuous autonomy of task completion.https://www.mdpi.com/2076-3417/12/11/5369space manipulatorhierarchical task networkmultiple constraintsintermediate-point planning |
| spellingShingle | Changchun Liang Dong Pan Gang Chen Pengfei Xin Xiaodong Zhang Task-Oriented Motion Planning of a Space Manipulator under Multiple Constraints Applied Sciences space manipulator hierarchical task network multiple constraints intermediate-point planning |
| title | Task-Oriented Motion Planning of a Space Manipulator under Multiple Constraints |
| title_full | Task-Oriented Motion Planning of a Space Manipulator under Multiple Constraints |
| title_fullStr | Task-Oriented Motion Planning of a Space Manipulator under Multiple Constraints |
| title_full_unstemmed | Task-Oriented Motion Planning of a Space Manipulator under Multiple Constraints |
| title_short | Task-Oriented Motion Planning of a Space Manipulator under Multiple Constraints |
| title_sort | task oriented motion planning of a space manipulator under multiple constraints |
| topic | space manipulator hierarchical task network multiple constraints intermediate-point planning |
| url | https://www.mdpi.com/2076-3417/12/11/5369 |
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