{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T12:45:15Z","timestamp":1772887515679,"version":"3.50.1"},"reference-count":65,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2019,7,24]],"date-time":"2019-07-24T00:00:00Z","timestamp":1563926400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,6]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>It is usually proposed to use a robotic manipulator for performing on-orbit capture of a target satellite in the planned active debris removal and on-orbit servicing missions. Control of the satellite-manipulator system is challenging because motion of the manipulator influences position and orientation of the chaser satellite. Moreover, the trajectory selected for the capture manoeuvre must be collision-free. In this article, we consider the case of a nonredundant manipulator mounted on a free-floating satellite.We propose to use the bi-directional rapidly-exploring random trees (RRT) algorithm to achieve two purposes: to plan a collision-free manipulator trajectory that, at the same time, will result in a desired change of the chaser satellite orientation. Several improvements are introduced in comparison to the previous applications of the RRT method for manipulator mounted on a free-floating satellite. Feasibility of the proposed approach is demonstrated in numerical simulations performed for the planar case in which the chaser satellite is equipped with a 2-DoF (Degree of Freedom) manipulator. The obtained results are analysed and compared with the results obtained from collision-free trajectory planning methods that do not allow to set the desired final orientation of the chaser satellite.<\/jats:p>","DOI":"10.1017\/s0263574719001176","type":"journal-article","created":{"date-parts":[[2019,7,24]],"date-time":"2019-07-24T08:03:42Z","timestamp":1563955422000},"page":"957-982","source":"Crossref","is-referenced-by-count":33,"title":["Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method"],"prefix":"10.1017","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7957-5346","authenticated-orcid":false,"given":"Tomasz","family":"Rybus","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,7,24]]},"reference":[{"key":"S0263574719001176_ref21","doi-asserted-by":"publisher","DOI":"10.1243\/0954410041321998"},{"key":"S0263574719001176_ref12","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1109\/37.887446","article-title":"\u201cThe reaction stabilization of on-orbit robots,\u201d","volume":"20","author":"Carignan","year":"2000","journal-title":"IEEE Control Syst. 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