A Method of Ground Verification for Energy Optimization in Trajectory Planning for Six DOF Space Manipulator

Ground verification method in trajectory planning for space manipulators is a very important issue in the field of space robotics. How to build a micro-gravity environment on the ground, and to achieve the movement of full freedom of multiple degrees of freedom manipulator just like on-orbit. It is that a challenge. Furthermore, some space applications require smooth trajectories and the minimization of a performance index, usually the energy consumption of the space manipulator. The energy is very valuable for some short-term spacecraft without solar panels. This paper presents a method and a system of ground verification based on air-bearing technology, with what we can test the trajectory planning algorithm of space manipulator capture of Non-cooperative object, especially when we focus on the issue of verification of energy optimization problems. In order to verify the correctness of the method, a six DOF space manipulator and an air-bearing system have been developed to test them. Experimental results show that the method verifies and simulates the space manipulator on the ground effectively, and show that the method and system are capable of evaluating different energy optimization planning algorithm.