Research Article
Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target
Table 4
Parameter uncertainties of target’s model.
| | Mass and inertia of base (kg, kg.m2) | Mass and inertia of target (kg, kg.m2) | Parameter uncertainty |
| | Mass: 100; inertia: [20, 20, 20] | Mass: 100; inertia: [20, 20, 20] | 0 | | Mass: 100; inertia: [20, 20, 20] | Mass: 110; inertia: [22, 22, 22] | 10% (mass and inertia) | | Mass: 100; inertia: [20, 20, 20] | Mass: 120; inertia: [24, 24, 24] | 20% (mass and inertia) |
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