FREE-FLOATING SPACE MANIPULATOR’S NO-SPACECRAFT-ATTITUDE-DISTURBANCE PATH PLANNING USING DYNAMICS SINGULARITIES

This paper discusses path planning of the free-floating double arms space manipulators under the tiny gravity envioronment. Combination the condition of conservations of momentum and angular momentum, the text gives out the formula to compute the dynamics singularities and the zero disturbance maps of the robotic system. Using the dynamics singularities and the zero disturbance maps,we can develop a way to save the expensive space feul resources through path planning.