Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target

Table 1

Nomenclature.

Variable	Description
	The ^th joints of Arm-k (; , )
	The joint angle of the ^th joint of Arm-k
	The unit vector representing the rotation direction of
	The CoM of rigid body
	The position vectors from to and to , respectively
	The position vector from the CoM of to joint
	The position vector of , base’s CoM, and space robot’s CoM, respectively
	The position vector of and the end-effector of Arm-k, respectively
	The joint angle vector of Arm-k;
	The linear and angular velocities of
	The linear and angular velocities of
	The linear and angular velocities of the end-effector of Arm-k
	The linear and angular velocities of the target
	The masses of , , and the whole system, respectively
	The inertia matrices of and in terms of the body CoM frame
,	The identity and zero matrices