Abstract
On-orbit construction and maintenance technology will play a significant role in future space exploration. The dexterous multifunctional spacecraft equipped with multi-arm, for instance, SpiderFab Bot, has attracted a great deal of focus due to its versatility in completing these missions. In such engineering practice, point-to-point moving in a complex environment is the fundamental issue. This paper investigates the three-dimensional point-to-point path planning problem, and a hierarchical path planning architecture is developed to give the trajectory of the multi-arm spacecraft effectively and efficiently. In the proposed 3-level architecture, the high-level planner generates the global constrained centric trajectory of the spacecraft with a rigid envelop assumption; the middle-level planner contributes the action sequence, a combination of the newly developed general translational and rotational locomotion mode, to cope with the relative position and attitude of the arms about the centroid of the spacecraft; the low-level planner maps the position/attitude of the end-effector of each arm from the operational space to the joint space optimally. Finally, the simulation experiment is carried out, and the results verify the effectiveness of the proposed three-layer architecture path planning strategy.
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This work was supported by the National Natural Science Foundation of China (Grant Nos. 62003115 and 11972130), and the Shenzhen Natural Science Fund (the Stable Support Plan Program GXWD20201230155427003-20200821170719001).
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Yue, C., Lin, T., Zhang, X. et al. Hierarchical path planning for multi-arm spacecraft with general translational and rotational locomotion mode. Sci. China Technol. Sci. 66, 1180–1191 (2023). https://doi.org/10.1007/s11431-022-2275-2
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DOI: https://doi.org/10.1007/s11431-022-2275-2