Motion planning for redundant free-floating space robot with local optimization of reaction torque and joint torque simultaneously

摘要

This paper presents a novel way to derive the analytical expression of the reaction torque acted on the satellite base's centroid firstly. The reaction torque is acted as the optimization index to achieve the satellite base disturbance minimization in this paper. The null-space based solution and Lagrange multipliers based solution are utilized to solve the reaction torque plus joint torque minimization of redundant free-floating space robot. Besides, a special discretization strategy is utilized to obtain a low-level servo loops control laws which can also achieve reaction torque plus joint torque minimization. Thus this strategy can transform the acceleration level control scheme for multi-dynamics task optimization into the velocity level control scheme. A set of numerical experiments of a 7 DOF redundant free-floating space robot based on a simulation system under Matlab/Simulink verify the validity and feasibility of the proposed algorithm.