# Sampling-Based Motion Planning for Free-Floating Space Robot without Inverse Kinematics
## 3 Motion Planning Algorithm for FFSRs
* Finally, for collision detection, this paper proposes a method for calculating the position of the mass center of each rigid body of FFSRs in a certain configuration. Sampling-based motion planning is an efficient way to deal with motion planning problems. This article systematically shows how to apply this kind of method to deal with the motion planning problem of FFSRs. Based on the framework proposed in this article, planners that can handle special planning problems of FFSRs can be easily designed. Conceptualization, H.Z. and Z.Z. ; methodology, H.Z. ; writing--original draft preparation, H.Z. ; writing--review and editing, H.Z. and Z.Z. All authors have read and agreed to the published version of the manuscript. This research received no external funding. The authors declare no conflict of interest. The following abbreviations are used in this manuscript:

FFSRFree-floating space robots

RRTRapidly exploring random tree

EEEnd-effector

VMVirtual manipulator

DMDisturbance map

DOFDegrees-of-freedom

ABDKAn approach based on the direct kinematics

OPMPOptimization-based approach for robotic motion planning

CHOMPCovariant Hamiltonian optimization for motion planning

STOMPStochastic trajectory optimization for motion planning

SBMPSampling-based motion planner

JT-RRTsJacobian transpose-directed rapidly exploring random trees

CB-EEPG-LPControl-based goal EEpose guiding local planner

RC-GGRandom configuration guiding growth

GEE-GGGoal EEpose guiding growth

VMVirtual manipulator

DMDisturbance map

RRTRapidly-exploring random tree

dofDegree-of-freedom

FFSRFree-floating space robot

CHOMPCovariant hamiltonian optimization for motion planning

STOMPStochastic trajectory optimization for motion planning

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