Path planning method for free-floating space robot in Cartesian space

In order to ensure spacecraft attitude stability for the operational free floating space robot (FFSR), a nonholonomic path planning method with zero-disturbance spacecraft attitude in Cartesian space is presented for the FFSR. Firstly, based on the characteristic equation and angular momentum conservation equation of the FFSR, the generalized Jacobian matrix is obtained. Secondly, in order to meet the need of path planning, the reachable workspace of FFSR with zero-disturbance spacecraft attitude is analyzed. Finally, with the introduction of correlative coefficient, the zero-disturbance vector synthesis algorithm in Cartesian space is designed. Simulation results of path planning show that the manipulator end-effector can reach the desired point and the spacecraft attitude is of zero-disturbance simultaneously. Therefore, the feasibility and validity of the presented method are verified.