| Author(s): |
Serrantola, Wenderson Gustavo
;
Grassi Jr, Valdir
;
IEEE
Total Authors: 3
|
| Document type: | Journal article |
| Source: | 2019 19TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR); v. N/A, p. 6-pg., 2019-01-01. |
| Abstract | |
Due to the increasingly important role of space manipulators in orbital operations and the difficulties encountered in trajectory planning as a consequence of the dynamic coupling between the robot arm and the robot base, this paper proposes to use the RRTControl algorithm, an adaptation of the RRT algorithm used when the system is subject to differential constraints, for trajectory planning of a Dual-Arm Planar Free-Floating Manipulator (FFSM) in joint space with static obstacle avoidance. The FFSM was modeled using the Dynamically Equivalent Manipulator approach, and The Open Motion Planning Library (OMPL) was used as the basis for system implementation. The results of simulations demonstrate that the RRTControl algorithm was able to solve the problem of trajectory planning for the FFSM with and without an obstacle. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |