Nonholonomic Motion Planning of Space Robot System with Dual-Arms Using Genetic Algorithm

In this paper, we use genetic algorithm solve problem of the optimal nonholonomic motion planning of free-floating space robot system with dual-arms. Base on the linear momentum conservation and the angular momentum conservation of the system, the system state equations for control design are established. The approximate optimal control scheme of the system proposed is studied, and a genetic algorithm for the optimal control of the system proposed is developed. The optimal motion planning approach proposed possesses the advantages that it can obtain the desired angles of the base's attitude and arms' joints only by controlling the arms' joints motion. Some simulations for a planar free-floating space robot system with dual-arms is done to verified the proposed approach.