On-line Real-time Obstacle Avoidance Path Planning of Space Manipulator

To reduce the large amount of calculation during the space manipulator on-line real-time obstacle avoidance,a method path planning,is presented by means of the theory of configuration-space.Using the method of regular enveloping modelling of obstacles,and projecting obstacle and manipulator to two planes,the three-dimensional problem is transformed to two-dimensional one and then the path is searched by binary tree algorithm.It greatly reduces the calculation and meets the requirements of on-line real-time path planning.Simulations on the VR System of Space Robot,show that this algorithm is available.