Hierarchical Nonholonomic Path Planning of Dual-Arm Space Robot Systems with Joint Limits

In this paper, based on Lyapunov methods, hierarchical nonholonomic path planning of free-floating dual-arm space robot systems with joint limits is discussed. The methods utilize fully the nonholonomic mechanical structure of space robot systems. With the linear and angular momentum conversation and the Jacobian matrix, the system state equations and the control output equations for control design are established. And then the primary Lyapunov function and the secondary are selected. The primary function insures the movement of the end-effectors from the start point to the desired point. The secondary ascertains joint limit avoidance. Combined the primary Lyapunov function with the secondary, the end-effectors implement the specific movement and each joint realizes joint limit avoidance. A planar free-floating dual-arm space robot system is simulated to verify the proposed methods