Wu Jianwei, Cui Jiwen, and Tan Jiubin
Space robot, on-orbit detection, trajectory planning, moment ofreaction
A novel optimization method of Cartesian trajectory planning was proposed for the problem of accompanying-flight space robots disturbing its carrier during on-orbit detection. A parameterized method of Cartesian trajectory was proposed, and an objective function was established to reflect the variation of moment of reaction in the carrier. This objective function could not only limit the motion range of the joint angle in the manipulator but also avoid any singular influence. The optimization of the objective function could effectively reduce the moment of reaction from the motion of space manipulator while the Cartesian trajectory of on-orbit detection was tracked. The effectiveness of this method was verified through simulation and experiment.
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