*2.2. MTTP for Space Robotics*

Space robots are required to execute a series of tasks, where the location of each task is simplified as a waypoint in the Cartesian space. The MTTP denotes that the end effector is constrained to visit a set of waypoints with minimum time. The position and attitude of the waypoints are predefined, while the optimal waypoint sequence is not given. Moreover, the space robot should meet the following constraints. First, the joint angular velocities need to be zero at each waypoint. Second, the joint angles and joint angular velocities are constrained to be within certain ranges. Third, for FFSR2, the attitude disturbance acting on the free-floating base should be minimized during the FFSR2 maneuver.
