Trajectory Planning of Free-Floating Space Robot Based on Dual-Mode Switching

For trajectory planning problem with multiconstraints of free-floating space robots (FFSR), the optimal solution may be unavailable due to strict constraints. In order to avoid identify a solution and obtain an executable joint trajectory, this paper proposes a trajectory planning method based on dual-mode switching. Using this method, the planner can automatically switch between the optimal mode and the effective mode, and obtain a feasible joint trajectory that satisfies the task requirements when the end-effector tracking error constraint and the joint torque constraint are considered. In this paper, the multiconstraints model of FFSR, which mainly consider control and dynamic constraints and the trajectory planning model based on dual-mode switching, are established, and the corresponding solving method is presented. The simulation results demonstrate that the proposed method is effective and feasible.