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

Table 2

Mass properties of space robotic system and target.

		Base	Redundant manipulator (as shown in Figure 3)							Target
			Mass (kg)		500	4	2	6	2		6	2	2	100
(kg.m^2)		50	0.012	0.003	0.052	0.003	0.052	0.003	0.003	20
		50	0.012	0.003	0.052	0.003	0.052	0.003	0.003	20
		50	0.002	0.0008	0.006	0.0008	0.006	0.0008	0.0008	20
		0	0	0	0	0	0	0	0	0
		0	0	0	0	0	0	0	0	0
		0	0	0	0	0	0	0	0	0