Research on Path Planning of Manipulator for Aerial Boom Refueling Test System

Dong Li Yuan; Chuang Xin Zhao; Zi Bing Xiao

doi:10.4028/www.scientific.net/AMM.538.159

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 538Research on Path Planning of Manipulator for...

Research on Path Planning of Manipulator for Aerial Boom Refueling Test System

Abstract:

According to the characteristic of aerial boom refueling test system which is composed of tanker, drag system, manipulator, refueling boom, the movement of refueling boom is controlled by manipulator in this paper. In order to make the path from one point to another point of the end manipulator become the shortest, this paper gives the caculating methods of the shortest path for the end manipulator and path for the joint B of the manipulator. To realize the movement of the manipulator follow the planned trajectory, the motion strategy of three-step movement is proposed. Simulation results show that the motion strategy is effective.

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Periodical:

Applied Mechanics and Materials (Volume 538)

Pages:

159-162

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.538.159

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Online since:

April 2014

Authors:

Dong Li Yuan*, Chuang Xin Zhao, Zi Bing Xiao

Keywords:

Aerial Boom Refueling, Manipulator, Motion Strategy, Path Planning

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References

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