A Review of Spatial Robotic Arm Trajectory Planning

With space technology development, the spatial robotic arm plays an increasingly important role in activities. Spatial arms can effectively replace humans to complete in-orbit service tasks. The trajectory planning is basis of motion. Its merit has essential impact on quality completed operation. research not yet formed a broad framework categorization, so it necessary analyze and deeply summarize existing systematically. This paper introduces current situation obstacle avoidance motion planning. It discusses basic principle practical application method. future development trend also been prospected.