Motion planning for two-degree space robots

To solve the problem of motion planning for the space robot systems in which there exist motion coupling between the manipulator and the supporting base, a geodesic method was proposed. By using the moving frame method, the kinematics model for space robots and the Riemannian metric which is based on the square of end effector moving arc-length were constructed. Then the differential equation of geodesic in which the momentum conservation constraint was considered was established on the Riemannian surface, and the initial value of the differential equation was also analyzed. Finally, the two DOF space robot was used to introduce the application of this geodesic method.