  With the development of human space exploration, the space environment is
gradually filled with abandoned satellite debris and unknown micrometeorites,
which will seriously affect capture motion of space robot. Hence, a novel fast
collision-avoidance trajectory planning strategy for a dual-arm free-floating
space robot (FFSR) with predefined-time pose feedback will be mainly studied to
achieve micron-level tracking accuracy of end-effector in this paper. However,
similar to control, the exponential feedback results in larger initial joint
angular velocity relative to proportional feedback. Firstly, a pose-error-based
kinematic model of the FFSR will be derived from a control perspective. Then, a
cumulative dangerous field (CDF) collision-avoidance algorithm is applied in
predefined-time trajectory planning to achieve micron-level collision-avoidance
trajectory tracking precision. In the end, a GA-based optimization algorithm is
used to optimize the predefined-time parameter to obtain a motion trajectory of
low joint angular velocity of robotic arms. The simulation results verify our
conjecture and conclusion.
