Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7153883 | Chinese Journal of Aeronautics | 2017 | 10 Pages |
Abstract
This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the least-squares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning, and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task's null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.
Keywords
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Physical Sciences and Engineering
Engineering
Aerospace Engineering
Authors
Cheng ZHOU, Minghe JIN, Yechao LIU, Zongwu XIE, Hong LIU,