Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot

Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot

An obstacle avoidance and path planning algorithm for a multi-joint manipulator in a space robot is presented in this paper. In this paper, the end-effector of the manipulator is used to capture some special target in a space environment with obstacles. To ensure the safety of the operation, a colli...

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Bibliographic Details
Main Authors: Yaen Xie, Zhidan Zhang, Xiande Wu, Zhen Shi, Yangyang Chen, Baixuan Wu, Kofi Akrofi Mantey
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
FABRIK
multi-joint manipulator
obstacle avoidance
path planning
rapidly-exploring random tree
Online Access:https://ieeexplore.ieee.org/document/8937839/

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