Fig. 1. Application objects and constraint types of the path planning for space robots

Fig. 2. Homotopy construction for the path of an in-orbit service spacecraft with obstacle avoidance constraints

Fig. 3. Homotopy construction for the patrol path of a lunar rover with kinematic constraints

Fig. 4. Homotopy construction for the path of space robotic arms with trajectory topology constraints

Fig. 5. Framework of the homotopy-based approximation algorithm for space robot path planning

Fig. 6. Principle of path homotopy construction

Fig. 7. Curvature-bounded lengthening/shortening homotopy for space service robots

Fig. 8. Optimization objective model for the time window constrained path planning of space robots

Fig. 9. 3-degree-of-freedom attitude simulator for space robots and optimal path for time window constraints