Trajectory Planning for a DualArm Planar FreeFloating Manipulator using RRTControl Due to the increasingly important role of space manipulators in orbital operations and the difficulties encountered in trajectory planning as a consequence of the dynamic coupling between the robot arm and the robot base, this paper proposes to use the RRTControl algorithm, an adaptation of the RRT algorithm used when the system is subject to differential constraints, for trajectory planning of a DualArm Planar FreeFloating Manipulator (FFSM) in joint space with static obstacle avoidance. The FFSM was modeled using the Dynamically Equivalent Manipulator approach, and The Open Motion Planning Library (OMPL) was used as the basis for system implementation. The results of simulations demonstrate that the RRTControl algorithm was able to solve the problem of trajectory planning for the FFSM with and without an obstacle.

Path Planning of Redundant Series Manipulators Based on Improved RRT Algorithms Aiming at the path planning problem of the redundant manipulator with seven degrees of freedom, this paper presents a new algorithm based on improved RRT (Rapidlyexploring Random Tree algorithm), GmRRT algorithm. The new algorithm performs path planning in the joint space of the robot to improve the efficiency of the planning. The new algorithm combines the target probability offset to improve the orientation of the growth of extended random trees; uses the method of generating random points instead of single random points to improve the computational efficiency of path planning; and introduces the method of adaptive virtual gravity of targets to ensure the balance of the new algorithm in target orientation and exploration to the surrounding space. Lastly, a simulation experiment is carried out on the MATLAB platform. The results show that the improved algorithm has advantages in time and keeps the algorithm concise.