The Motion Planning Of Lunar Rover Manipulator Based On SA~*Algorithm

Manipulator exploration planning system is an important part of lunar roveroperating system, its task is the detection for lunar rover manipulator, after thescientists selected to detect the target point, satisfy the constraint condition ofno-collision between the manipulator and the rover structure, no-interference betweenthe manipulator and the ground there, and light conditions, taking the minimization ofinvestment cost as object. Taking the "Rabbit" lunar rover as an object of study, thepaper studies the kinematics/inverse kinematics and the lunar rover manipulatorexploration planning method.First of all, the D-H modeling approach is chosen, established the mathematicalmodel of manipulator, the structure and motion parameters. According to thecharacteristics of the lunar rover manipulator with three degrees of freedom serialconfiguration, the author use chain algorithm for forward kinematics calculation. Byusing the Euclidean norm, the inverse kinematics solution of the manipulator lay atheoretical foundation for the manipulator’s fast and accurate movement. Through themethod of contrast between forward and inverse kinematics, This model’s correctnessis demonstratedSecondly, Range of motion of manipulators of three angles makes themanipulator not collide with the rover structure. Then, because of a simplifiedgeometric model, the manipulator is modeled as36parallel lines enclosed by the barin the space. After the ground environment data stored in the AABB tree, collisiondetection between the simplified geometric model and AABB tree nodes could get themotion space where the manipulator and the ground is no interference.Finally, through an improved algorithm A*algorithm——SA*algorithm, thispaper analysis manipulator exploration planning. The SA*algorithm detectedtwo configuration transformation of manipulator and reduce the node cost under thesame conditions of configuration change. This method greatly reduces the data ofplanning results stored in the data structure, improves the efficiency of planningsearching results, and reduces number of manipulator configuration change times.Based on the VS2008development platform, MFC framework and Open Inventorsoftware, this paper researched and developed a set of suitable for3D simulation tool.The results of simulation verify the correctness of the mathematical model of,manipulator kinematics and inverse kinematics model and SA*planning algorithm.