Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking

• URL: http://arxiv.org/abs/2512.21882v1
• Date: Fri, 26 Dec 2025 06:11:54 GMT
• Title: Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking
• Abstract summary: Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites.<n>We propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a free-floating, rotating debris object into the manipulator's workspace.<n>The proposed method introduces a dynamic keep-out sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target.
• Score: 2.666234597824067
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a free-floating, rotating debris object in a two-dimensional plane into the manipulator's workspace, as a preliminary step for its capture. The proposed method introduces a dynamic keep-out sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target. Furthermore, a control strategy is developed to reproduce the optimized trajectory using discrete ON/OFF thrusters, considering practical implementation constraints.

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