Improved Trajectory Planning Method for Space Robot-System with Collision Prediction

  • Yingjie Qian
  • Jianjun YuanEmail author
  • Weiwei Wan


This paper studies the trajectory planning problem for space robot system including two 7 degrees-of-freedom (DOFs) space manipulators. The base disturbance problem is not discussed. An intuitive close-form inverse-kinematic solution is first deduced to convert the Cartesian pose of end-effector into joint configurations. Two innovative functions, crawling function and cascade connection between Core Module Manipulator (CMM) and Experimental Module Manipulator (EMM) are studied and provided with mathematical solutions. Their purposes are to broaden the workspace while requiring higher demands on the planning method. Collision prediction including collision against the environment and against the robot itself is then analyzed to eliminate the tunneling problem and enhance efficiency. Finally, an improved trajectory planning method based on Lazy Theta* which is an algorithm of any-angle-path planning is proposed and adjusted to different planning conditions. Simulation results prove the comprehensive validity of this method. The collision-free trajectory is reasonable and optimized for shorter length and less turns. This method has preferable efficiency and utility to complex environment and changing free configuration space.


7DOF space robot-system Collision prediction Trajectory planning Robot crawling Cascade connection 


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Conflict of interests

The authors declare that they have no conflict of interest.

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© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.Robotics InstituteShanghai Jiaotong UniversityShanghaiPeople’s Republic of China
  2. 2.Shanghai Robotics InstituteShanghai UniversityShanghaiPeople’s Republic of China
  3. 3.School of Engineering ScienceOsaka UniversityOsakaJapan

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