Research on Motion Planning of Space Robot under Autonomous Selection Mechanism

• Published in: 2021 International Conference on Artificial Intelligence and Electromechanical Automation (AIEA) pp. 96 - 99
• Main Author: Jiayuan, Lu
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2021
• Subjects: autonomous selection; Harmonic analysis; Manipulators; motion planning; Planning; Redundancy; Robot sensing systems; Sensors; space robot; Vibrations
• DOI: 10.1109/AIEA53260.2021.00028

A robot is an intelligent robot that looks similar to humans and has mobile, sensing, and operating functions. It can not only complete operating tasks independently, but also complete operating tasks in collaboration with humans. After the robot mobile platform reaches the designated position, the operation tasks mainly rely on the robot's highly flexible arm waist system to complete. Because the arm-waist system has high redundancy, how to realize its highly dexterous operation movement planning to avoid the task failure caused by the increase of constraints during the operation is the focus of its research. In addition, the arm-waist joint transmission chain contains flexible components such as harmonic reducers, which makes the joints flexible, and leads to unavoidable vibrations during the movement of the robot, and excessive vibrations can cause operation tasks to fail. Therefore, the vibration in the robot movement must be suppressed.