Research on Cooperative Motion Planning of Space Multi-robots

doi:10.3901/JME.2019.12.037

Abstract

Abstract: A multi-robot cooperative motion planning method based on priority is proposed for space on-orbit assembly task. The multi-robot system is composed of a 7-DOF manipulator and a 13-DOF super redundant lighting robot. Two methods are used to plan high-priority manipulators:off-line path planning from point to point within configuration space and on-line motion planning in Cartesian space based on pseudo-inverse. For the low-priority super-redundant lighting robot, the manipulator is regarded as a known obstacle, and a reconfigurable motion planning method based on A^* algorithm and trajectory tracking is proposed. The motion planning is decomposed into path planning and tip-following, and the reconfiguration of the algorithm is verified. Simulation experiment is conducted with two robot kinematics models. Simulation results show that the motion planning method of each robot can meet the task requirements effectively, the motion planning algorithm of lighting robot is reconfigurable. The cooperative strategy based on priority of multi-robot system can meet the requirements of space on-orbit assembly task.

Key words: on-orbit assembly, multi-robots system, cooperation, motion planning, super-redundant robot

CLC Number:

TG156

GUAN Yingzi, LIU Wenxu, YAN Ning, SONG Chunlin. Research on Cooperative Motion Planning of Space Multi-robots[J]. Journal of Mechanical Engineering, 2019, 55(12): 37-43.

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