Space manipulators play an important role in the on-orbit services and planetary surface operation whose reliability is a key issue. In the extreme environment of space, space manipulators are susceptible to a variety of unknown disturbances. Since it is difficult for the manipulator to be repaired immediately, once it fails, it will mean that it cannot complete the mission as expected, which may cause serious losses and dangers. How to have a resilient guarantee, i.e., the manipulator’s ability to resiliently recover and continue to complete tasks, in failure or disturbance is the core capability of its future development. The motion planning unit is used as the computing terminal of the manipulator’s joint motion trajectory. Compared with traditional motion planning, learning-based motion planning has gradually become a hot spot in current research. However, no matter what kind of research ideas, the single robotic manipulator is studied as an independent agent, making it unable to provide sufficient flexibility under conditions such as external force disturbance, observation noise, and mechanical failure.
