Research on Path Planning Method of Spatial Redundant Manipulator

Aiming at safety and reliability of the space station remote manipulator (SSRMS) type 7DOF redundant manipulator's path planning, an optimized A* path planning algorithm is proposed based on the inverse kinematics of arm angle. This paper improves the method of inverse solution based parameterized arm angle, and obtains 32 sets of complete inverse solutions, which increases flexibility of inverse solution selection in path planning, optimizes the method of A* path planning based on arm angle search and minimum singular value, which increases ability to avoid obstacle and singularity, flexibility of manipulator operation, safety and reliability. At the same time, according to the path optimization strategy, the path is efiectively smoothed to reduce the wear of the manipulator. The simulation shows the efiectiveness of the method.