Journal of Astronautics ›› 2015, Vol. 36 ›› Issue (4): 390-396.doi: 10.3873/j.issn.1000-1328.2015.04.004

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Pre Impact Configuration Optimization for a Space Robot Capturing Target Satellite

GUO Wen hao, WANG Tian shu   

  1. School of Aerospace, Tsinghua University, Beijing 100084, China
  • Received:2014-03-04 Revised:2014-05-16 Online:2015-04-15 Published:2015-04-25


A method based on particle swarm optimizer is presented for the optimization the pre-impact configuration of a dual-arm space robot to minimize the changes of robot’s attitude. The dynamic equations of pre- and post-impact phases are firstly given, then the impact dynamic model is derived based on impulse-momentum equation, the objective function is the change of robot’s angular momentum caused by impacts. By use of the particle swarm optimizer, the pre-impact configure is calculated to minimize the effects of impacts on the robot’s angular momentum. An ideal pre-impact configuration is found. Numerical results show that the proposed method is useful and effective.

Key words: Space robot, Configuration optimization, Particle swarm optimistic algorithm, Impact/contact

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