Obstacle Avoidance Path Planning for Space Manipulator Based on Improved Probability Roadmap Method

Aiming at the point-to-point path planning of apace manipulator, an improved probability roadmap method is proposed in this paper. By introducing the concept of intermediate configuration, the set of intermediate configuration is established, and the configuration-to-point path planning is solved, and the point-to-point path planning can be divided into configuration-to-configuration path planning and configuration-to-point path planning. The correctness and validity of the proposed method are verified with 7-DOF manipulator used as the research object to simulate the experiment.