An Optimal Trajectory Planning Method for Stabilization of Coupled Space Robotic System after Capturing

摘要

Autonomous target capturing of space robot is a key technology for on orbit servicing. After capturing, the mass properties and the total momentum of the coupled system will change large. This will result in the system unstable if no effective measures are used. In this paper, an optimal trajectory planning method is proposed to stabilize the coupled system and minimize the attitude deflection of the base. Firstly, the system kinematics equation is formed of joint and flywheel variables, which are parameterized by polynomial functions. Then, the trajectory planning is transformed to a non-linear optimization problem. Finally, we solve the parameters using the particle swarm optimization (PSO) algorithm, and the motion trajectories are determined. Simulation results show that this method is effective.