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Using floating vehicle is an important application of Space Manipulator System. Compared to flying vehicle,This kind of system has some advantages, such as long-time on orbit service ,small disterbance to goal satellite and without necessity of equipment to keep vehicle;so there is a good prospect of this system.Because of floating vehicle,a nonholonomic character exists between vehicle and manipulator,it is the nonholonomic character that causes some issues such as vehicle disturbance,motion redundancy and sigularity related to path,based on this,path planning of this kind of system becomes very difficult.so,path planning based on nonholonomic characher make good sense.This paper firstly build the modle of space manipulator , give the motion function and work space based on nonholonomic character;discuss the impact caused by nonholonomic character to the jakobian marix ,and the sigularity related to path and dynamics paraments,buid the dynamics modle of the system and give the analysis of dynamics.Secondly,this paper focuses on how to design a path to connect the initial configuration with the final configuration in the joint space;to realize this,a new method is proposed,this method is based on space mapping, and succeeds to transform the coupling variables to independent variables. via converse transform,a path in the joint space is created,finally,a simulation is put forward to prove the truth of this method.Next,on account of the sigularity related to path and dynamics paraments,based on motion decomposition,a new method is proposed,this method succeeds to transform relation with path to nonrelation,and succeeds to plan the motion of vehicle.a simulation is put forward to prove the truth of this method.Finally,to simulate some character of space manipulator with floating vehicle,and to integrate the whole program, based on Matlab GUI,this paper gives a user interface for betterly increasing operability and visualization, all this is to do some elements to the next work.
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