The Precollision Trajectory Planning of Redundant Space Manipulator for Capture Task

Aiming at on-orbit capture task, a scheme for precollision trajectory planning of redundant space manipulator is proposed in this paper. The minimized collision impulsive force and the correct capture pose of the end-effector can be achieved at the same time by the scheme. At the contact point, the configuration of the manipulator is optimized in a new way to minimize the impulsive force without affecting the correct capture pose. After obtaining the optimal configuration, particle swarm optimization (PSO) algorithm is employed to solve the trajectory planning from the initial point to the desired point (desired configuration and correct capture pose are both contained). Firstly, the joint trajectory is parameterized using sinusoidal functions with the arguments of high-order polynomials. Then the objective function is defined according to the end-effector pose requirements. Finally, the PSO method is used to search for the unknown parameters to obtain the appropriate precollision joint trajectory. The proposed method can satisfy the whole capture process of redundant space manipulator before collision, and simulation results of a 7-dof space manipulator verify the effectiveness.