Direct Trajectory Optimization of Free-Floating Space Manipulator for Reducing Spacecraft Variation

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-hearing 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.