  A flying trapeze act can be a challenging task for a robotics system since
some act requires the performer to catch another trapeze or catcher at the end
after being airborne. The objective of this paper is to design and validate a
motion planning algorithm for a two-link free-flying acrobatic robot that can
accurately land on another trapeze after free-flying in the air. First, the
proposed algorithm plan the robot trajectory with the non-linear constrained
optimization method. Then, a feedback controller is implemented to stabilize
the posture. However, since the spatial position of the center-of-mass of the
robot cannot be controlled, this paper proposes a trajectory correction scheme
that manipulates the robot's posture such that the robot is still able to land
on the target. Lastly, the whole algorithm is validated in the simulation that
mimics real-world circumstances.
