Print Email Facebook Twitter Direct Trajectory Optimization of Free-Floating Space Manipulator for Reducing Spacecraft Variation Title Direct Trajectory Optimization of Free-Floating Space Manipulator for Reducing Spacecraft Variation Author Shao, X. (TU Delft Learning & Autonomous Control; Harbin Institute of Technology) Yao, Weiran (Harbin Institute of Technology) Li, Xiaolei (Harbin Institute of Technology) Sun, Guanghui (Harbin Institute of Technology) Wu, Ligang (Harbin Institute of Technology) Date 2022 Abstract This letter investigates the direct trajectory optimization of the free-floating space manipulator (FFSM). The main purpose is to plan the joint space trajectories to reduce the spacecraft motion due to the joint rotation during the FFSM performing tasks. To improve the calculation efficiency, the adaptive Radau pseudospectral method (A-RPM) is applied to discretize the system dynamics and transform the formulated optimal problem into a nonlinear programming problem (NLP). By adaptively subdividing the current segment and assigning collocation points according to the solution error, high-degree interpolation polynomials are avoided. To verify the effectiveness of the proposed method, a ground micro-gravity platform of the FFSM system is designed by using the air-bearing technique, on which experiments are carried out. The results show that the variation of the base spacecraft is dramatically reduced if the joints rotate along the optimized trajectories. Subject Direct trajectory optimizationfree-floating space manipulatorradau pseudospectral methodspacecraft variation reduction To reference this document use: http://resolver.tudelft.nl/uuid:8ad9b284-759e-4e70-acd1-727e7cf49872 DOI https://doi.org/10.1109/LRA.2022.3143586 Embargo date 2023-07-01 ISSN 2377-3766 Source IEEE Robotics and Automation Letters, 7 (2), 2795-2802 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 X. Shao, Weiran Yao, Xiaolei Li, Guanghui Sun, Ligang Wu Files PDF Direct_Trajectory_Optimiz ... iation.pdf 3.15 MB Close viewer /islandora/object/uuid:8ad9b284-759e-4e70-acd1-727e7cf49872/datastream/OBJ/view