Trajectory Planning of Satellite Base Attitude Disturbance Optimization for Space Robot

The end Cartesian trajectory of space robot is planned to optimize the attitude disturbance of the satellite base during the motion of space manipulator. Before planning the end motion, first realize the end Cartesian trajectory parameterization of space manipulator, then set different optimization objectives and multiple constraint conditions, and at last obtain the optimization objective function based on constraint modification. Afterwards, the same Cartesian task is planned based on the trajectory optimization algorithm and the trapezoidal velocity method, and the simulation results of the trajectory optimization algorithm and the trapezoidal velocity method are compared from the perspective of the satellite base attitude disturbance and the joint angles of space manipulator.