Journal of Astronautics ›› 2017, Vol. 38 ›› Issue (7): 678-685.doi: 10.3873/j.issn.1000-1328.2017.07.002

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Dynamic Trajectory Planning Method of Space Manipulator for Capturing a Tumbling Target

WANG Xing long, ZHOU Zhi cheng, QU Guang ji   

  1. Institute of Telecommunication Satellite, China Academy of Space Technology, Beijing 100094, China
  • Received:2016-11-16 Revised:2017-05-04 Online:2017-07-15 Published:2017-07-25


In order to meet the development requirement of spacecraft on-orbit service system technology, a dynamic trajectory planning method of a space manipulator for capturing a tumbling target is proposed in this paper. Firstly, on the basis of the system assumptions, the dynamics model and the velocity gain matrix of the space manipulator for capturing a target are derived. Then, the dynamic regulation method of the velocity gain matrix is presented. Furthermore, the dynamic trajectory planning method of the space manipulator is developed in detail. Finally, the effectiveness of the method is verified by a numerical simulation performed with MATLAB and ADAMS. The results illustrate that the proposed method can not only reduce the capturing time but also prevent the excessive starting and residual velocities, as well as avoiding the singularity of the Jacobian matrix. The method is practical in engineering for a space manipulator to capture a tumbling target.

Key words: Space manipulator, Target capturing, Velocity gain, Trajectory planning

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