Coordinated path planning strategy for dual-arm space robot using b spline

In this paper, a coordinated path planning strategy by fully exploiting the dynamic coupling effect between the kinematically redundant dual-arm robot and spacecraft based is presented to cope with different objectives. The reason for choosing kinematically redundant manipulator is the existence of infinite solutions which can be employed to fulfil additional constraints, such as regulating base attitude, or collision avoidance, and so on. B spline curve for its simplicity and normalization is chosen to delineate the end-effector's path in task-space. The path constraints of the end-effectors are satisfied through determination of the path execution time. On that basis, motion coordination of the dual-arm space robot is implemented in the framework of the task-priority based redundancy resolution.