Design of Space Manipulator Trajectory Optimization Algorithm Based on Optimal Capture

With the diversification and complexity of space manipulator on-orbit tasks, it is an inevitable trend to realize on-orbit capture and assembly. In this paper, the relevant technologies involved in the acquisition process of the space station manipulator to the hovering target are studied. The corresponding acquisition control strategy and algorithm are designed, and the development of the acquisition control system of the hovering vehicle of the space manipulator is carried out, and the simulation verification is carried out. The results show that the trajectory planning algorithm based on optimal capture is effective to reduce the end pose disturbance and base pose disturbance. It is of great significance to improve the ability of mission completion.