{"ID":2824942,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.21882","arxiv_id":"2512.21882","title":"Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking","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.","short_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 i...","url_abs":"https://arxiv.org/abs/2512.21882","url_pdf":"https://arxiv.org/pdf/2512.21882v1","authors":"[\"Kenta Iizuka\",\"Akiyoshi Uchida\",\"Kentaro Uno\",\"Kazuya Yoshida\"]","published":"2025-12-26T06:11:54Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}