Path-Planning Program for a Redundant Robotic Manipulator
TBMG-6874
07/01/2000
- Content
The Space Station Robot Manipulator System (SSRMS) Path Planning Program is a computer program that, in comparison with software developed previously for the same purpose, supports operations of faster and more complex robots. Two especially notable features of the program are that (1) it makes for ease of description of the work space of a remote manipulator or other robot and (2) it takes advantage of redundant degrees of freedom of the manipulator by finding manipulator-link paths that avoid both mathematical singularities and physical obstacles. The program can be applied not only to space-station manipulators and other robots but also to manipulators and other robots used in remediation of waste sites and dismantling nuclear facilities. With moderate modifications, the program could even be used in reconfigurable manufacturing operations.
- Citation
- "Path-Planning Program for a Redundant Robotic Manipulator," Mobility Engineering, July 1, 2000.