@inproceedings{6f36855235fa46bd988fe6881df1d0df,
title = "Coordinated path planning strategy for dual-arm space robot using b spline",
abstract = "In this paper, a coordinated path planning strategy by fully exploiting the dynamic coupling effect between the kinematically redundant dual-arm robot and spacecraft based is presented to cope with different objectives. The reason for choosing kinematically redundant manipulator is the existence of infinite solutions which can be employed to fulfil additional constraints, such as regulating base attitude, or collision avoidance, and so on. B spline curve for its simplicity and normalization is chosen to delineate the end-effector's path in task-space. The path constraints of the end-effectors are satisfied through determination of the path execution time. On that basis, motion coordination of the dual-arm space robot is implemented in the framework of the task-priority based redundancy resolution.",
keywords = "B spline, Coordinated path planning, Task-priority",
author = "M. Wang and J. Luo and J. Yuan and J. Zhang and U. Walter",
note = "Publisher Copyright: {\textcopyright} 2017 International Astronautical Federation IAF. All rights reserved.; 68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017 ; Conference date: 25-09-2017 Through 29-09-2017",
year = "2017",
language = "英语",
isbn = "9781510855373",
series = "Proceedings of the International Astronautical Congress, IAC",
publisher = "International Astronautical Federation, IAF",
pages = "791--797",
booktitle = "68th International Astronautical Congress, IAC 2017",
}