关键词: 空间机器人, 空间操作, 轨迹规划, 串并混联, 冗余自由度

Abstract: There are few researches so far focusing on the seriesparallel manipulator for space manipulators, where also the trajectoryplanning algorithms are usually without resort to the redundant DOFs. This paper proposes a novel trajectoryplanning algorithm for a 7 DOFs seriesparallel space manipulator, which is based on the analytical solutions of the inverse kinematics, and makes use of all the 7 DOFs. The algorithm enlarges the reachable space of the manipulator, ensures realtime implementation of the planning, and also maintains the high load capacity due to the seriesparallel structure. These facilitate the seriesparallel space manipulator to capture the targets during the space operation. Through simulations and experiments for space operation on the ground, the efficiency of the algorithm is verified.

Key words: space Robot, space operation, trajectoryplanning, seriesparallel, redundant DOFs