Application of the Obstacle Vector Field Method for Trajectory Planning of a Planar Manipulator in Simulated Microgravity

Figures & Tables

Parameter	Unit	Reference (planning)	Experiments
Parameter	Unit	Reference (planning)	Min.	Max.	Average
Position X	m	0.0008	0.0005	0.0078	0.0043
Position Y	m	0.0018	0.0064	0.0171	0.0106
Orientation	deg	0.1319	0.0999	1.2999	0.5666

Parameter	Unit	Link 1	Link 2	Link 3
Length	m	0.45	0.45	0.31
Mass	kg	2.81	2.82	4.64
CoM position in Π_i	m	0.136−0.002 \left[ {\matrix{ {0.136} \cr { - 0.002} \cr } } \right]	0.134−0.001 \left[ {\matrix{ {0.134} \cr { - 0.001} \cr } } \right]	0.1510 \left[ {\matrix{ {0.151} \cr 0 \cr } } \right]
Mass moment of inertia	kg · m²	0.0637	0.0635	0.0515