Abstract
In this paper, we deal with trajectory optimization problems for free-floating space robots, where the bases are not controlled by external moments and forces. Robot arms are mounted on free-floating bases-for example, spacecrafts, space stations, and so on. First, we formulate the trajectory optimization problems as nonlinear optimal control problems. Next, applying optimal control algorithms, we numerically obtain optimal solutions in infinite dimensional function spaces. Finally, we demonstrate how to find global solutions through local solutions by some numerical simulations.
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