Optimal control of a space robot for base disturbance minimization

A technique for optimal trajectory planning of a space robot for base disturbance minimization is presented in this article. The base disturbance is measured by the coupling force and torque between a base and a mounted manipulator. The influence of force and torque location is analyzed in this paper. An objective function composed of the coupling force and torque related optimization task is minimized. Furthermore, a linear quadratic based optimal control law is presented to achieve the base disturbance minimization control of a space robot. The corresponding illustrative examples are made to verify that Linear Quadratic based optimal control law to achieve base disturbance minimization is feasible.