Grasp Planning Method for Multiarm Space Manipulators Based on Global Stable Contact Optimization

Multiarm space manipulators offer advantages such as high connection stiffness and increased grasp tolerance in object manipulation tasks. This paper presents a grasp planning method for multiarm space manipulators, based on global stable contact optimization, which addresses challenges related to grasp points stability and the selection of grasp configurations when manipulating target objects. First, a stable grasp points selection strategy is developed, grounded in an analysis of the stable contact between the manipulators’ end-effectors and the target object. Next, to maximize global manipulability while minimizing motion energy consumption and peak joint torque, a multiobjective configuration optimization method is introduced. Finally, numerical simulations on various target objects validate the effectiveness of the proposed approach. The results demonstrate significant improvements in grasp points stability and the identification of optimal grasp configuration.