Motion planning of Free-Floating Space Robot based on gauss pseudo-spectral method

摘要

A nonholonomic motion planning approach is proposed toward the problem of Free-Floating Space Robot (FFSR) motion planning with zero-disturbance base attitude. Firstly, the kinematics model of FFSR is established, and the motion planning problem is transcribed to an optimal control problem. Secondly, the optimal control problem is transcribed to a non-linear parameter optimization problem by using GPM. Finally, an example of a 6-DOF manipulator FFSR verifies the validity of the method. The results indicate that the planned joint angle trajectories are smooth and continuous with no accelerations leap at the initial and terminal time, and the disturbance of base attitude is limited with no disturbance of base attitude at the terminal time.