In-Situ Manipulator Exploration Planning of Chang' E 3 Lunar Rover.

A planning method based on SA * algorithm is presented in this paper. Forward/Inverse kinematics model of manipulator is established to satisfy the constraints of security, and manipulator - rover body collision and manipulator - lunar environment collision are avoided by use of collision detection. The SA * algorithm is used to search for the working space of the manipulator and to achieve in-situ exploration planning for Rover Lunar under the condition of the least switching times for manipulator posture. The feasibility of the in-situ exploration planning method based on SA * algorithm for manipulator is verified by using the on-orbit data. [ABSTRACT FROM AUTHOR]