Dynamics and Smooth Trajectory Planning of Free Floating Space Robot with Zero-disturbance Spacecraft Attitude

The stability of the spacecraft attitude is very important to the normal work of solar cells and the communication between the system and earth. Therefore a work mode of free floating space robot (FFSR) with zero-disturbance spacecraft attitude is presented; the dynamic equation of FFSR with zero-disturbance spacecraft attitude is derived based on Lagrange method; the smooth and consecutive joint trajectories are designed by adopting a planning method of trigonometric function according to the boundary conditions; the time distribution method of smooth segments to aim at the optimization of joint torques is investigated. The simulation results validate the method proposed, and the outcome sets a good foundation for the motion planning and control of FFSR with zero-disturbance spacecraft attitude.