Abstract: Amanipulatortrajectoryplanningalgorithmbasedonafeedbackcoefficientforposition/orientationerrorwasproposed.Areactionnullspace(RNS)methodwasemployedtoachievethecoordinationmotionbetweenthebasespacecraftandthemanipulatorwhichwasutilizedtoexecuteonorbitservicing(OOS).Inordertogivedesiredmanipulatormotionatanaveragejointvelocity,afeedbackcoefficientforposition/orientationerrorwasintroduced,allowingtoassignweightingfactorstothemanipulatormotion.Inordertotestandverifythetrajectoryplanningalgorithmforspacemanipulator,thehardwareintheloop(HIL)groundexperimentsimulatorwasestablished,whereafixedbasedrobotmanipulatorwasadopted.Simulationresultsdemonstratethattheproposedtrajectoryplanningalgorithmcanguaranteethatthemanipulatorendeffectorapproachthenoncooperativeobjectatawellproportionalspeed,andgrasptheobjectwithsatisfyingprecision.Itoffersaguidelinefortrajectoryplanningofspacemanipulatorwhencapturingthenoncooperativeobjects.

Key words: reefloatingspacemanipulator, Noncooperativeobject, Trajectoryplanning, Feedbackcoefficientforposition/orientationerror, Thehardwareintheloopexperiment