Path Planning Method Design and Dynamic Model Simplification of Free-Flying Space Robot

Abstract

Space robot is indispensable for complex operations such as in-orbit maintenance of spacecraft, space debris defense, etc.. In this paper, a path planning method based on joint parameters is proposed to resolve the problem of dynamic singularity while planning the trajectory for free-flying space robot. Parameters-interpolating is used in this path planning method to convert the equation of path planning motion based on generalized Jacobian matrix to non-linear equations with the solution of numerical calculation. In this way, the path planning process of free-flying space robot merely takes forward kinematics problem into consideration. Therefore, the dynamic singularity problem is resolved. Meanwhile, a nonlinear analytical method of dynamic model is also proposed in this paper to access to the engineering application of space robot. This method is used to reduce the computational complexity of in-orbit operation process while keep the accuracy of the planning result. Methods proposed in this paper have broad prospect of applications for space robot.