2022
DOI: 10.1177/09544100221074410
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Fast cooperative obstacle-avoidance path planning for multiple space manipulators

Abstract: For a space manipulator with multiple links, joints, and degrees of freedom, it is necessary to comprehensively consider the motion state of each link to make the manipulator reach the target position. In this regard, this study proposes a fast cooperative obstacle-avoidance path planning method for multiple space manipulators. The proposed method can quickly determine the obstacle-avoidance path of each link in multiple space manipulators with multiple degrees of freedom. In this method, first, the geometric … Show more

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