@inproceedings{6e179d5c50b74ebcaa457fe61457bd43,
title = "A Trajectory Planning Method for Load-Carrying Capacity Improvement of Redundant Space Manipulator with Large External Force",
abstract = "In this paper, a joint torque optimization method is proposed for redundant space manipulator systems where an external force acts on the end-effector. Through three weighting factors, the joint dynamic torque minimization, the influence of external forces minimization and joint velocity minimization are combined. The quadratic program (QP) method is used to solve the proposed joint torque minimization at joint-acceleration level. This paper solves the problem of joint-velocity and joint-position level planning at the level of joint-acceleration, which realizes the simultaneous processing of three different levels of problems. Joint velocity minimization guarantees the stability and final joint-velocity of motion to be near zero. A simulation experiment of a 7-DOF redundant space robot is carried out to verify the effectiveness of the proposed method.",
keywords = "Large external force, Quadratic program (QP), Redundant space manipulator, Torque minimization",
author = "Jingdong Zhao and Xiaohang Yang and Zhiyuan Zhao and Hong Liu",
note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021 ; Conference date: 22-10-2021 Through 25-10-2021",
year = "2021",
doi = "10.1007/978-3-030-89092-6\_34",
language = "英语",
isbn = "9783030890919",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "371--382",
editor = "Xin-Jun Liu and Zhenguo Nie and Jingjun Yu and Fugui Xie and Rui Song",
booktitle = "Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings",
address = "德国",
}