Motion Optimization of Redundant Free-floating Space Robot in Cartesian Space

Motion planning of space robot approaching the target satellite is indispensable for satellite on-orbit servicing. However, many motion planning methods cannot be directly applied to practical space robot system. In order to solve this problem, we adopt the velocity-level kinematics to solve the motion planning problem of space robot in Cartesian space. During the process of space robot motion, the attitude disturbance optimization of satellite base and joint limits avoidance arc key issues. For the joint limit problem, the joint threshold function optimization method is proposed. For the disturbance of the base attitude, we propose a new optimization method based on the coupling angular momentum. Finally, the results of the simulation experiment are given, which prove that the methods in this paper are valid.