Cartesian Path Planning for Base Attitude Adjustment of Space Robot

This paper presents a novel Cartesian path planning for space manipulator to achieve base (satellite) attitude adjustment and Cartesian task. The base attitude adjustment by the way of the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority Reaction Null-space control method is applied to achieve the primary task to adjust attitude and secondary task to accomplish Cartesian task. Furthermore, The algorithm singularity is eliminated in the proposed algorithm compared with conventional Reaction Null-space algorithm and extended Jacobian algorithm. And the varied damping factors are introduced to avoid dynamics singularity. The simulation platform of the space robot control system based on Matlab/Simulink is built. The simulation results demonstrate the validity and feasibility of the proposed Cartesian path planning algorithm