Research on Obstacle Avoidance of Space Manipulators Based on Cylindrical Bounding Box Model

Aiming at the obstacle avoidance problem of space manipulator system, according to the working environment of GIS tank detection in substation, a new obstacle avoidance method based on cylindrical bounding box model is proposed. Firstly, a piecewise description equation of ideal manipulator trajectory extraction, intermediate unknown quantity and can not be determined as undetermined parameters, problem of space manipulator motion problem into a multi-objective optimization; secondly the simplified application of cylinder bounding box model and establish the corresponding model, based on the analysis of the Cartesian space the manipulator control needs and obstacles on the description of the optimization function is established in Cartesian space manipulator by weighting coefficient; finally using MATLAB simulation analysis model of the space manipulator and the simulation data of actual obstacle avoidance experiment. Through the above simulation and experimental analysis, the results show that the model can effectively meet the obstacle avoidance requirements of space manipulator.