Point-to-point trajectory planning for space robots based on jerk constraints

摘要

This paper studies the Cartesian point-to-point optimal trajectory planning for space robots oriented to space maintenance operations. Aiming at the problems of poor stability, large base disturbance, and large joint variation in the motion planning of point-to-point maintenance in space, a planning method is proposed to minimize the base disturbance and the total joint angle variation under the jerk constraint on the premise of ensuring the accuracy of the end pose. First, the attitude of the space robot is described by the unit quaternion, and the velocity relationship between the joint angle, the end effector, and the base posture is introduced. Then, the joint trajectories were parameterized by a fifth degree polynomial, and a trajectory planning model with the minimum perturbation of the base and the minimum variation of the joint of the manipulator was established under the condition that the end effector satisfied the pose and the jerk constraint. Finally, a multi-objective optimization algorithm is proposed to deal with the trajectory optimization problem under nonlinear constraints. The simulation results show that the proposed trajectory planning method can optimize the base attitude and joint angle of the space manipulator under the premise of the optimal trajectory and stability of the terminal execution tool, which ensures the stability of the space robot's on-orbit service and reduces the energy consumption.