Research on Path Planning of Manipulator for Aerial Boom Refueling Test System

摘要

According to the characteristic of aerial boom refueling test system which is composed of tanker, drag system, manipulator, refueling boom, the movement of refueling boom is controlled by manipulator in this paper. In order to make the path from one point to another point of the end manipulator become the shortest, this paper gives the caculating methods of the shortest path for the end manipulator and path for the joint B of the manipulator. To realize the movement of the manipulator follow the planned trajectory, the motion strategy of three-step movement is proposed. Simulation results show that the motion strategy is effective.