Electronics Optics & Control, Volume. 32, Issue 2, 24(2025)

Trajectory Planning for Minimizing Floating Base Disturbance of Spatial Dual-Arm Robots

ZHANG Hui1... ZUO Xiaozhong1,2, ZHANG Wei2, and GAO Sheng23 |Show fewer author(s)
Author Affiliations
  • 1College of Electrical and Control Engineering, Shenyang Jianzhu University Shenyang 110000, China
  • 2State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang 110000, China
  • 3China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai 200000, China
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    References(8)

    [7] [7] ZHANG X, LIU J G. Effective motion planning strategy for space robot capturing targets under consideration of the berth position[J]. Acta Astronautica, 2018, 148: 403-416.

    [8] [8] XIE Z W, ZHAO X Y, JIANG Z N, et al. Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach[J]. Frontiers of Mechanical Engineering, 2022, 17(1): 2.

    [9] [9] XIE Y E, WU X D, INAMORI T, et al. Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot[J]. Advances in Space Research, 2019, 63(3): 1147-1160.

    [11] [11] YANG S J, ZHANG Y L, WEN H, et al. Coordinated control of dual-arm robot on space structure for capturing space targets[J]. Advances in Space Research, 2023, 71(5): 2437-2448.

    [12] [12] WANG X Y, SHI L L, KATUPITIYA J. Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space[J]. Acta Astronautica, 2020, 176: 99-110.

    [13] [13] YAN L, XU W F, HU Z H, et al. Multi-objective configuration optimization for coordinated capture of dual-arm space robot[J]. Acta Astronautica, 2020, 167: 189-200.

    [15] [15] XUE Z H, ZHANG X, LIU J G. Trajectory planning of a dual-arm space robot for target capturing with minimizing base disturbance[J]. Advances in Space Research, 2023, 72(6): 2091-2108.

    [17] [17] XUE J K, SHEN B. A novel swarm intelligence optimization approach: sparrow search algorithm[J]. Systems Science & Control Engineering, 2020, 8(1): 22-34.

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    ZHANG Hui, ZUO Xiaozhong, ZHANG Wei, GAO Sheng. Trajectory Planning for Minimizing Floating Base Disturbance of Spatial Dual-Arm Robots[J]. Electronics Optics & Control, 2025, 32(2): 24

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    Paper Information

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    Received: Jan. 10, 2024

    Accepted: Feb. 20, 2025

    Published Online: Feb. 20, 2025

    The Author Email:

    DOI:10.3969/j.issn.1671-637x.2025.02.005

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