中文摘要：

针对自由漂浮的双臂空间机器人系统可能出现的自碰问题进行了研究，提出了一种基于危险域的避自碰轨迹规划方案。首先，引入危险域的概念，用来评估两个机械臂之间发生碰撞的危险程度；其次，在路径规划的基础之上，利用危险域的反馈信息，设计了一种安全避自碰的轨迹规划方案，用于保证两个机械臂可以运动在安全位型，从而避免发生自碰。最后，针对一个双臂冗余空间机器人系统进行运动仿真，仿真结果验证了该方法的有效性。

英文摘要：

In order to overcome the possible self-collision of the free-floating dual-arm space robotic system, this paper proposed a trajectory planning scheme with self-collision avoidance based on danger filed. Firstly,it introduced the concept of danger filed to assess the risk of collision between the manipulators. Secondly, the information of danger field could be a feedback with a closed loop form. On the basis of path planning, this paper presented a safety-oriented trajectory planning strategy for self-collision avoidance. The proposed method can ensure the motion of manipulators safer and avoid the self-collision. Finally, it performed the motion simulation on a dual-arm redundant space robotic system. The simulation results verify the effectiveness of the proposed method.