GA based adaptive singularity-robust path planning of space robot for on-orbit detection

DOI10.1155/2018/3702916zbMath1398.93251OpenAlexW2806397438MaRDI QIDQ1785179

Jianwei Wu, Deer Bin, Xiaobing Feng, Zhongpu Wen, Yin Zhang

Publication date: 28 September 2018

Published in: Complexity (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2018/3702916

zbMATH Keywords

space robotsingular value decomposition (SVD)adaptive singularity-robust path planningCartesian path planning methoddamped least squares (DLS) methodgeneralized Jacobian matrix (GJM)on-orbit detectionsingularity-robust algorithmvelocity level inverse kinematics

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Least squares and related methods for stochastic control systems (93E24) Variable mass, rockets (70P05)

Related Items (1)

An improved method of particle swarm optimization for path planning of mobile robot

Cites Work

• Path planning of free-floating prismatic-jointed manipulators
• Overview of damped least-squares methods for inverse kinematics of robot manipulators
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

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