The Optimal Movement Planning for the Reconfigurable Brachiating Robot with Multi-Degree-of-Freedom

摘要

This paper describes an optimal motion planning for a quadruped walking space robot. An optimal motion planning is composed of a minimum-time movement planning and an optimal inverse kinematics in manual operation. The former is to move from a start to a goal in minimum time with "form change" unique to use in space. The latter is aimed at avoiding the leg's "bad state" such as the approach to the singular point or joint limits by solving an optimization problem, and the effectiveness of the proposed method is proved quantitatively.