Abstract
针对在轨服务多臂航天器系统高精度的位姿协同要求及其运动过程中的避障约束，提出一种基于机械臂末端（腕关节）和肘关节的双层博弈多臂路径规划方法。研究建立了多臂运动学模型，在博弈论基础上建立多臂的博弈模型；给出了双层博弈的基本算法流程及其纳什均衡解的求解策略；以动目标多臂围捕为场景进行仿真分析，验证所提出算法末端精确跟踪抓取和肘部避障能力的有效性和实用性。所得结果可为多臂在轨服务航天器的智能化路径规划与控制提供新的解决方案。
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