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<p>On-orbit redundant manipulators, owing to their flexibility and fault tolerance, are well-suited for performing tasks in confined environments. However, complex space environments introduce significant challenges in obstacle avoidance, motion planning, and control. This paper focuses on a seven-degree-of-freedom (7-DoF) manipulator of the space station remote manipulator system (SSRMS) type, addressing its kinematics and obstacle avoidance in motion planning and control. Initially, a 3D model of the redundant manipulator was developed, and its forward kinematics were established using the Denavit–Hartenberg (D–H) method. The Jacobian matrix was computed through the vector product method. Inverse kinematics were subsequently resolved using a redundancy resolution approach based on quadratic programming (QP), and a joint velocity-based motion planning strategy was designed to ensure high-precision end-effector trajectory tracking. Additionally, a configuration optimization function was introduced to address singularity avoidance and joint limit constraints using the gradient descent method. To prioritize tasks, dual-trajectory tracking was implemented using hierarchical quadratic programming (HQP), enabling the manipulator to effectively avoid obstacles. Finally, several simulations were conducted to validate the effectiveness of the proposed methods.</p>

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HQP-Based Obstacle Avoidance Motion Planning and Control of On-Orbit Redundant Manipulators

  • 期刊论文

  • 发表日期：

    2025年2月18日

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  • Hongjun Xing,
  • Zeping Wang,
  • Bin Lei,
  • Yuyan Xie,
  • Liang Ding,
  • Jinbao Chen

摘要

On-orbit redundant manipulators, owing to their flexibility and fault tolerance, are well-suited for performing tasks in confined environments. However, complex space environments introduce significant challenges in obstacle avoidance, motion planning, and control. This paper focuses on a seven-degree-of-freedom (7-DoF) manipulator of the space station remote manipulator system (SSRMS) type, addressing its kinematics and obstacle avoidance in motion planning and control. Initially, a 3D model of the redundant manipulator was developed, and its forward kinematics were established using the Denavit–Hartenberg (D–H) method. The Jacobian matrix was computed through the vector product method. Inverse kinematics were subsequently resolved using a redundancy resolution approach based on quadratic programming (QP), and a joint velocity-based motion planning strategy was designed to ensure high-precision end-effector trajectory tracking. Additionally, a configuration optimization function was introduced to address singularity avoidance and joint limit constraints using the gradient descent method. To prioritize tasks, dual-trajectory tracking was implemented using hierarchical quadratic programming (HQP), enabling the manipulator to effectively avoid obstacles. Finally, several simulations were conducted to validate the effectiveness of the proposed methods.