Multi-arm Motion Planning of Beijing Astronaut Robot

  • Hui Li
  • Bowen Qin
  • Zhihong JiangEmail author
  • Marco Ceccarelli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Considering the special configuration of the space station multi-arm bionic robot, a two-arm/three-arm coordinated operation mode are proposed which greatly improves efficiency of movement of the robot. Aiming at the robot’s two-arm coordinated motion to form a redundant degree of freedom manipulator, a global trajectory optimization method based on spatial meshing is pro-posed, which effectively reduces the maximum joint motion speed of the robot and provides an effective technical approach for the mobile space planning inside and outside the robot space station.


Multi-arm Astronaut Robot trajectory optimization 


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This work was supported by the National Natural Science Foundation of CHINA (61733001, 61573063, 61873039, U1713215).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hui Li
    • 1
  • Bowen Qin
    • 1
  • Zhihong Jiang
    • 1
    Email author
  • Marco Ceccarelli
    • 2
  1. 1.School of Mechatronic EngineeringBeijing Institute of TechnologyBeijingChina
  2. 2.University of Rome Tor VergataRomeItaly

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