Dual Arm Free Flying Space Robot Trajectory Planning Using Polynomial

Table 2

Parameters used in simulating of space robot.

Mass of base ()	4 kg
Mass of first link of mission and balance arm	0.2942 kg
Mass of second link of mission and balance arm including masses of their grippers	0.2942 kg
Length of first link of mission and balance arm	0.4 m
Length of second link of mission and balance arm	0.3 m
Distance of CM of base to first joint of both the arms	0.5 m
Inertia of first link of mission and balance arm	0.03 kg m^2
Inertia of second link of mission and balance arm including end effectors inertia	0.02 kg m^2
Inertia of base ()	0.4 kg m^2