Trajectory planning of dual-arm space robots for target capturing and base manoeuvring

This paper presents a trajectory planning method for a dual-arm space robot that is free-floating and receives no actuation from the base spacecraft. The task is to capture a target by a mission arm and accomplish base manoeuvring with the coupling effects by a manoeuvring arm. Three manoeuvring cases for the base are discussed concerning attitude regulation, attitude tracking and position tracking. In all cases, an optimization method is...