A New Motion Planning Algoritm for Free-Floating Space Robot

This paper investigates Motion Planning for FFSR from Initial Configuration to Goal EE Pose (MP-from-IC-to-GP) and suggests a brand-new motion planning algorithm called RRT without Inverse Kinematics for FFSR (No-IK-RRT-for-FFSR). No-IK-RRT-for-FFSR utilizes random configuration and EE goal pose to guide the growth of the tree. On the one hand, when performing local planning, use the motion equation in velocity form and implement an integral mechanism to take the differential constraints of the FFSR into consideration. On the other hand, when use EE goal pose to guide the growth of the tree, we propose to adjust the attitude of the base in the null space of the generalized Jacobian matrix only when the attitude error of the base reaches the adjustment threshold. It can take the attitude adjustment of the base into account while ensuring that the goal EE pose is reached, and can ensure that the disturbance of the base attitude is within a certain range.