A real-time path planning of space manipulator saving consumed energy

摘要

This paper deals with a real- time path planning method of a manipulator mounted on the free-flying robot in space to save the energy consumed by the mechanical viscous friction forces and the armature's resistances of motors when operating the manipulator. For this purpose, a new concept of "manipulation ellipse under a constant consumed energy" defined in this paper, is used. The validity of the proposed method is confirmed numerically by computer simulation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>