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

Table 3

The constraints for trajectory optimization.

Description	Variables	Values
Bound constraint		{0, 0, 0.4, 0, 0, 0; 0.1, 0.05, 0, 0, 0, 0}
		{0, 0, 0.3, 0, 0, 0; 0, 0, 0, 0, 0, 0}
State limit		{-0.6, -0.6, 0.2, -, -, -; -, -, -, -, -, -}
		{-0.6, 0.6, 0.6, , , ; , , , , , }
Control limit		{-30, -30, -30, -10, -10, -10, -30, -30, -30, -10, -10, -10}
		{30, 30, 30, 10, 10, 10, 30, 30, 30, 10, 10, 10}