Optimal Path Planning of Two Manipulators of a Space Robot

In this papar, the path planning of two manipulators of a space robot is considered. The equations of the motion of a free-flying space robot that has two manipulators are derived. On the basis of the dynamic model, an optimal trajectory, which accomplishes the desired end-position of the manipulator hands and minimizes the deviation of the attitude of the body of the space robot from the initial configuration, are calculated by using a numerical algorithm. Simulation results for a planar space robot with two 2. D. O. F. manipulators are shown.