An APF-based Path Planning Method of Dual Space Manipulators for On-orbit Assembly Tasks

Modularization of large-scale space structures and assembling them on orbit can effectively overcome the constraints imposed by the limited payload capacity of rocket launches. Compared with a single manipulator, the collaboration of two manipulators provides advantages in handling complex assembly tasks and enhancing efficiency. However, the interaction between the manipulators must be considered during the path planning process. This paper addresses the path planning problem of dual 7-DOF space manipulators in on-orbit assembly scenarios. The master-slave planning mode and the artificial potential field method are used to achieve fast and safe path planning for the two manipulators. A distance calculation model between the two manipulators is proposed, enabling the slave manipulator to avoid collisions with the moving master manipulator dynamically. A variable joint angle increment method is introduced to reduce the number of planning steps. Finally, the path planning method is verified through simulation. The results demonstrate the applicability of the developed path planning method for dual space manipulators performing on-orbit assembly tasks.