Trajectory planning for Multi-arm space walking robot

An algorithm for trajectory planning for a multi-arm space robot is proposed in this paper. The robot is capable of walking on the exterior of a large space station. Based on the maneuver strategy of the walking process, continuous and smooth trajectories of the manipulator end-effectors are firstly determined by five times polynomial interpolation method. Then, the kinematics describing the relationship between the end-effector and the joint angles, as well as the platform, is formulated. An optimization solution of the joint motions is calculated to describe the motion of the manipulators uniquely. Finally, a collision detection algorithm is introduced to verify the security during the operation. Numerical results of a triple-arm space robotic system are given to demonstrate the effectiveness of the proposed algorithms.