Learning-Based Task Space Trajectory Planning Frame- Work With Preplanning and Postprocessing for Uncertain Free-Floating Space Robots

摘要

This article addressed the challenge of the task space trajectory planning problem for free-floating space robots with model uncertainties. To ensure the end-effector of the uncertain robot follows a desired trajectory in the task space, a composite planning framework combining pre-planning and post-processing is proposed. The adaptive pseudospectral method based pre-planning exploits the nominal part of the uncertain robot, and considers the dynamics coupling of the nominal system to generate baseline trajectories. These baseline trajectories serve as references for the post-processing. The reinforcement learning based post-processing introduces random system parameters into the training process to improve planning accuracy under model uncertainties. Numerical simulations and experiments conducted on an air-bearing testbed verify the effectiveness of the proposed planning framework for uncertain free-floating space robots.