Research on Grasping Control of Space Robot

Grasping the current motion state of the space target to be captured is the requirement for space robot to capture on orbit. Therefore, by using the floating base robot, the Lagrangian method is used to establish its dynamic equation. The DH bar method is used to establish the coordinate system model of the space robot, and the quintic polynomial interpolation method is used to plan the joint angle, angular velocity and angular acceleration of the mechanical arm. The automatic capture method of the mechanical arm is proposed, and the experiment is conducted in the simulation environment. After viewing the relevant data, the experiment basically meets the expectations.