Collision-free optimal trajectory generation for a space robot using genetic algorithm

<p>Future on-orbit servicing and assembly missions will require space robots capable of manoeuvring safely aroundtheir target. Several challenges arise when modelling, controlling and planning the motion of such systems,therefore, new methodologies are required. A safe approach towards the grasping point implies that the spacerobot must be able to use the additional degrees of freedom offered by the spacecraft base to aid the arm attainthe target and avoid collisions and singularities. The controlled-floating space robot possesses this particularityof motion and will be utilised in this paper to design an optimal path generator. The path generator, based on aGenetic Algorithm, takes advantage of the dynamic coupling effect and the controlled motion of the spacecraftbase to safely attain the target. It aims to minimise several objectives whilst satisfying multiple constraints. Thekey feature of this new path generator is that it requires only the Cartesian position of the point to grasp asan input, without prior knowledge a desired path. The results presented originate from the trajectory trackingusing a nonlinear adaptive</p>