中文说明：应用背景This paper proposes an approach about obstacle collision-free motion planning of space manipulator by utilizing a Configuration-Oriented Artificial Potential Field method in 3-D space environment. Firstly, the artificial potential field method which is usually used in 2-D space is extended to 3-D space. Secondly, improving the artificial potential field method enables to carry out obstacle avoidance planning for the configuration of entire space manipulator (including the end-effector and links). Finally, the approach is combined with the inverse kinematics calculation which based on the Generalized Jacobian Matrix for planning a collision-free motion of space manipulator. At the end of the article, we verify the validity of the proposed method by simulating to the method mentioned above关键
English Description：
Application backgroundPaper proposes an approach about obstacle collision-free motion planning of space ThisBy utilizing a Configuration-Oriented Artificial Potential Field manipulatorIn 3-D space environment. Firstly the, artificial potential field method methodIs usually used in 2-D space is extended to 3-D whichSecondly improving, the artificial potential field method enables to space.Out obstacle avoidance planning for the configuration of entire space carryManipulator (the end-effector and links Finally). The, approach includingCombined with the inverse kinematics calculation which based on the isJacobian Matrix for planning a collision-free motion of space GeneralizedAt the end of the article we, verify the validity of the proposed manipulator.By simulating to the method mentioned above methodKey TechnologyThis paper we, set up the modeling of a InSpace manipulator and plan the motion of obstacle avoidance. Firstly 6-DOF,Window-shape set