Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target

摘要

Capturing and stabilizing tumbling targets using dual-arm space robots are very crucial to on-orbit servicing task. However, it is still very challenging due to the complex dynamics coupling and closed-chain constraints between the manipulators, the base, and the target. In this paper, a kinodynamic trajectory optimization method is proposed to generate the motion of a dual-arm space robot for stabilizing the captured tumbling target, which is formulated and solved as a nonlinear programming problem using direct collocation. Instead of optimizing the trajectory of each joint with the dynamics model of space robot, this method optimizes the trajectory of the tumbling target while considering the kinematics and dynamics constraints between the two arms and the target simultaneously. The objective function of the optimization is defined as weighted detumbling time, base disturbance, and manipulability, in order to avoid singularity and save the energy of space robot for further manipulation. Several physical simulations are carried out to validate the proposed method.