The Cartesian Path Planning of Free-Floating Space Robot using Particle Swarm Optimization
The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a me...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5605 |