TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion

• URL: http://arxiv.org/abs/2605.27167v1
• Date: Tue, 26 May 2026 15:24:07 GMT
• Title: TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion
• Abstract summary: Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem.<n>This paper proposes a task-space constrained bidirectional rapidly-exploring random tree algorithm, termed TCBiRRT.
• Score: 13.227911126048731
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints significantly reduce the feasible configuration space, making it difficult for existing planners to efficiently generate collision-free motions, especially in cluttered environments. To address this issue, this paper proposes a task-space constrained bidirectional rapidly-exploring random tree algorithm, termed TCBiRRT. Unlike conventional methods that operate in the high-dimensional configuration space, the proposed approach performs random sampling and node expansion directly in the task space defined by the manipulated object pose. A task-space node expansion strategy is developed to generate candidate object motions, which are then mapped to continuous joint paths using a path inverse kinematics algorithm. The method is further integrated with a bidirectional RRT framework and a regrasp mechanism to efficiently connect two random trees. Extensive simulations are conducted in representative on-orbit assembly scenarios with varying levels of environmental complexity. The results demonstrate that TCBiRRT achieves significantly higher success rates and orders-of-magnitude improvements in planning time compared to state-of-the-art planners. The proposed method provides an efficient and robust solution for motion planning of tightly coupled dual-arm space manipulators.

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