TY - JOUR
T1 - Motion planning of free-floating space robots through multi-layer optimization using the RRT* algorithm
AU - Liu, Ruipeng
AU - Guo, Jian
AU - Gill, Eberhard
PY - 2025
Y1 - 2025
N2 - This paper introduces a motion planning method for capture of tumbling objects using a free-floating space robot. The proposed approach incorporates an improved Rapidly Exploring Random Tree Star (RRT*) algorithm enabling obstacle avoidance and generating desired trajectories for the robot's end-effectors. Additionally, a multi-layer optimization process and a greedy policy are proposed to achieve singularity avoidance, joint velocity, and acceleration optimization by leveraging the robot arm's joint energy distribution, torque, and manipulability. By adopting this motion planning strategy, the space robotic system demonstrates improved performance in obstacle and singularity avoidance, without the need for inverse Jacobian matrix calculations. Furthermore, the multi-layer optimization process enhances trajectory smoothness and reduces end-effector vibration through energy and torque optimization. This research contributes to advancing space robotic systems by enhancing the entire energy and torque consumption on motion planning to make the end-effector move smooth and reduce the vibration.
AB - This paper introduces a motion planning method for capture of tumbling objects using a free-floating space robot. The proposed approach incorporates an improved Rapidly Exploring Random Tree Star (RRT*) algorithm enabling obstacle avoidance and generating desired trajectories for the robot's end-effectors. Additionally, a multi-layer optimization process and a greedy policy are proposed to achieve singularity avoidance, joint velocity, and acceleration optimization by leveraging the robot arm's joint energy distribution, torque, and manipulability. By adopting this motion planning strategy, the space robotic system demonstrates improved performance in obstacle and singularity avoidance, without the need for inverse Jacobian matrix calculations. Furthermore, the multi-layer optimization process enhances trajectory smoothness and reduces end-effector vibration through energy and torque optimization. This research contributes to advancing space robotic systems by enhancing the entire energy and torque consumption on motion planning to make the end-effector move smooth and reduce the vibration.
KW - Active debris removal
KW - Manipulator
KW - Motion planning
KW - Space robots
UR - http://www.scopus.com/inward/record.url?scp=85214129382&partnerID=8YFLogxK
U2 - 10.1016/j.actaastro.2024.12.036
DO - 10.1016/j.actaastro.2024.12.036
M3 - Article
AN - SCOPUS:85214129382
SN - 0094-5765
VL - 228
SP - 940
EP - 956
JO - Acta Astronautica
JF - Acta Astronautica
ER -