Configuration Planning of Space Cellular Robotic System

摘要

Space Cellular Robotic System is a novel manipulating device which can replace space manipulator to realize on-orbit assembly, inspection, and maintenance of large space facilities. In this paper, the expressions system of Space Cellular Robotic System is defined, and the mathematical expressions of robot actions and configurations are established. Then an algorithm based on the minimum set covering problem is proposed to solve the configuration planning problem. Simulation and analysis show that the algorithm can realize the configuration planning with known configurations, and can give the reference of functions and parameters when new configuration design is needed.