Abstract
In order to achieve disturbance rejection of the base while realizing the pre-capturing process under joint physical constraints (such as limited joint-angle, joint-velocity, joint-acceleration), this paper proposed an acceleration-level trajectory planning method for a dual-arm space robot. Firstly, the acceleration-level kinematic models are derived by using the velocity-level kinematics and linear and angular momentum conservation law. On this basis, the joint physical constraints are reformulated as a quadratic programming (QP) problem which can be converted to a piecewise-linear projection equation. Meanwhile, the improved damped least-squares (DLS) method is applied to design trajectory planning for the balance arm which is employed to keep the base disturbance free. Finally, simulation results verify the effectiveness of the proposed acceleration-level trajectory planning method.
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