Future space robotics tasks require manipulators of significant dexterity, achievable through kinematic redundancy and modular reconfigurability, but with a corresponding complexity of motion planning. Existing research aims for full autonomy and completeness, at the expense of efficiency, generality or even user friendliness. Commercial simulators require user-taught joint paths—a significant burden for assembly tasks subject to collision avoidance, kinematic and dynamic constraints. Our research has developed a Kinematic Path Planning (KPP) algorithm which bridges the gap between research and industry to produce a powerful and useful product. KPP consists of three key components: path-space iterative search, probabilistic refinement, and an operator guidance interface. The KPP algorithm has been successfully applied to the SSRMS for PMA relocation and dual-arm truss assembly tasks. Other KPP capabilities include Cartesian path following, hybrid Cartesian endpoint/intermediate via-point planning, redundancy resolution and path optimization. KPP incorporates supervisory (operator) input at any detail to influence the solution, yielding desirable/predictable paths for multi-jointed arms, avoiding obstacles and obeying manipulator limits. This software will eventually form a marketable robotic planner suitable for commercialization in conjunction with existing robotic CAD/CAM packages.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Kinematic path planning for space-based robotics


    Beteiligte:
    Seereeram, Sanjeev (Autor:in) / Wen, John T. (Autor:in) / El-Genk, Mohamed S. (Herausgeber:in) / Bragg, Mary J. (Herausgeber:in)

    Kongress:

    Space technology and applications international forum - 1998 ; 1998 ; Albuquerque,New Mexico (USA)


    Erschienen in:

    AIP Conference Proceedings ; 420 , 1 ; 223-228


    Erscheinungsdatum :

    15.01.1998


    Format / Umfang :

    6 pages





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Kinematic Path Planning for Space-Based Robotics

    Seereeram, S. / Wen, J. T. / University of New Mexico; School of Engineering; Institute for Space and Nuclear Power Studies | British Library Conference Proceedings | 1998


    Space Station robotics planning tools

    Testa, Bridget Mintz | NTRS | 1992


    Optimal Path Planning with a Kinematic Airplane Model

    Timothy McGee / J. Karl Hedrick | AIAA | 2007


    UAV path planning with kinematic constraints based on deep reinforcement learning

    Gao, Mingsheng / Zhang, Xiaoxuan | British Library Conference Proceedings | 2022


    Path planning under kinematic constraints by rapidly exploring manifolds

    Jaillet, Leonard Georges / Porta Pleite, Josep Maria | BASE | 2013

    Freier Zugriff