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

Pengfei Xiao1, Hehua Ju1, Qidong Li2

  • 1College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China.

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Summary

This study introduces a novel trajectory planning method for space robots to minimize base disturbance and joint variation during maintenance. This approach enhances stability and reduces energy consumption for on-orbit servicing operations.

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Area of Science:

  • Robotics
  • Aerospace Engineering
  • Control Systems

Background:

  • Space robots require precise motion planning for maintenance tasks.
  • Existing methods struggle with base disturbance and joint variations, impacting stability.
  • Ensuring end-effector accuracy is critical for successful space operations.

Purpose of the Study:

  • To develop an optimal trajectory planning method for space robot point-to-point motion.
  • To minimize base disturbance and total joint angle variation.
  • To ensure end-effector pose accuracy under jerk constraints.

Main Methods:

  • Describing space robot attitude using unit quaternions.
  • Parameterizing joint trajectories with fifth-degree polynomials.
  • Establishing a multi-objective optimization model for trajectory planning.

Main Results:

  • The proposed method optimizes base attitude and joint angles for space manipulators.
  • It ensures optimal trajectory and stability of the end-effector.
  • Simulation results validate the effectiveness in enhancing stability and reducing energy consumption.

Conclusions:

  • The developed trajectory planning method significantly improves space robot stability during on-orbit servicing.
  • It effectively minimizes base disturbance and joint variations.
  • The approach contributes to more efficient and reliable space maintenance operations.