BI-DIRECTIONAL APPROACH FOR MOTION PLANNING OF SPACE MANIPULATORS WITH PRISMATIC JOINT
带滑移铰空间机械臂运动规划的双向逼近方法

Based on a bi-directional approach, the paper discusses the motion planning of free-flying space manipulators with prismatic joint. Considering its nonholonomic nature, the vehicle orientation can be controlled in addition to the joint variables of the manipulators, by actuating only the joint variables. As the result, the fuel consumption for controlling the vehicle orientation is reduced and the life-span of space manipulator system is prolonged. A planar space manipulator with prismatic joint is simulated to verify the proposed approach.