BI-DIRECTIONAL APPROACH OF MOTION PLANNING OF CLOSED-LOOP SPACE ROBOT SYSTEM WITH DUAL-ARMS
闭环双臂空间机器人系统运动规划的双向逼近方法

The nonholonomic motion planning of free-floating closed-loop space robot system with dual-arms is discussed in this paper.Based on the relation of the linear,angular momentum conservation and the geometric constraints of the system,the state equation of the system is established for the design of the control system. And applying the bi-directional Lyapunov approach to the state equation,the control input equation of the arms' joints is obtained to control both the base attitude and the arms' joints.Because no continuous trajectory from the start point to the end point in the state space can complete the desired task,a synthesized trajectory is obtained to accomplish the desired task through the bi-directional approach.The advantage of the approach is the decrease of the fuel consumption for controlling the base attitude and the increase of the available life-span of the space robot system.A planar closed-loop space robot system with dual-arms is simulated to verify the proposed approach.