Journal of Astronautics ›› 2014, Vol. 35 ›› Issue (6): 639-647.doi: 10.3873/j.issn.1000-1328.2014.06.004

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Pre Impact Trajectory Optimization of Redundant Space Manipulatorwith Multi Target Fusion

JIA Qing xuan,  ZHANG Long,  CHEN Gang,  SUN Han xu   

  1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2013-07-05 Revised:2014-02-12 Online:2014-06-15 Published:2014-06-25


Oriented to on orbit docking and assembly task, methods for pre impact trajectory optimization of redundant space manipulator with multi targets fusion are proposed in this paper. Through the analysis of task characteristics, multi targets before impact are presented. For the first kind of task composed of trajectory tracking, impact attitude control and impact impulse optimization, multi targets are fused by setting the task priority. And the pre impact trajectory is optimized by using the method based on null space of primary task. For the second kind of task consisted of point to point manoeuvre, impact attitude control and impact impulse optimization, A genetic algorithm is employed to optimize the pre impact trajectory after integrating multi targets by setting task weight. Take the typical 7 dof space manipulator as an example to carry out simulation experiment, results verify the effectiveness of proposed methods.

Key words: Space manipulator, Pre impact trajectory optimization, Null space of primary task, Genetic algorithm

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