End-effector pose and arm-shape synchronous planning methods of a hyper-redundant manipulator for spacecraft repairing

•The multi-coupling kinematics modelof ahyper-redundant robotis derived.•The established EJM has higher calculation efficiency.•The proposed EJMRDcan realize the synchronous planningof the arm-shape and the end-effector of theHRM.•The idea of multitask priority decomposition for IASand OASis proposed.•Two typical types of confined-space slit crossing tasks are considered.