Hierarchical Task Planning for Multiarm Robot with Multiconstraint

Multiarm systems become the trends of space robots, for the on-orbit servicing missions are becoming more complex and various. A hierarchical task planning method with multiconstraint for multiarm space robot is presented in this paper. The process of task planning is separated into two hierarchies:...

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Bibliographic Details
Main Authors: Yifan Wang, Hanxu Sun, Gang Chen, Qingxuan Jia, Boyang Yu
Format: Article
Language:English
Published: Hindawi Limited 2016-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2016/2508304