一种改进 RRT$^*$ 结合四次样条的协调路径规划方法$^{\bf 1)}$
余敏,罗建军,王明明,高登巍

COORDINATED PATH PLANNING BY INTEGRATING IMPROVED RRT$^{\small*}$ AND QUARTIC SPLINE$^{\bf 1)}$
Yu Min,Luo Jianjun,Wang Mingming,Gao Dengwei
表2 空间机器人运动学和动力学参数
Table 2 Kinematica and dynamic parameters of space robot