Research On Trajectory Planning Of Free-Floating Space Robot With Vehicle Attitude Zero-Disturbance

The Free-floating Space Robot (FFSR) has abroad prospect of application in military and civil areas. Because of the characteristics of attitude disturbance, redundancy and noholonomic, the FFSR motion control is difficult. To ensure the communication devices running normally, the zero-disturbance of vehicle attitude is necessary, and then the trajectory planning of FFSR with vehicle attitude zero-disturbance is important.This paper dose some work of discuss and research on the kinemics, dynamics, workspace and singularity of FFSR, and the basic theories of FFSR with vehicle attitude zero-disturbance is researched and analyzed. Then, the kinemics Generalized Jacobian Matrix, workspace area, dynamics equation and singularity equation are given, include some simulation figures of a concrete FFSR system workspace and singular configurations.Base on the boundary conditions of velocity and acceleration, the joint velocity planning algorithm is designed. For the purpose of optimized joint torques, the method dividing time among the smooth subsections is given. From the attitude zero-disturbance equation, the zero-disturbance lines are formed as the key part of the Joint Space Trajectory Planning Algorithm. Introduce the concept of Correlation Coefficient, and the Vectors Synthesis Trajectory Planning Algorithm is designed. The simulations of the two basic algorithms make clear that there is a good result near the initial configuration.Applying iterative planning algorithm and combining the two basic algorithms, Joint Space Trajectory Planning Iterative Algorithm and Composite Iterative Algorithm are designed. And then the simulations of the algorithms are given. There is a good result in the area of zero-disturbance workspace, and the disadvantages of basic algorithms are overcome. The problem of trajectory planning of FFSR with vehicle attitude zero-disturbance is solved basically.