Abstract
Two kinds of dynamic load-carrying capacity (DLCC) evaluation methods for free-floating space manipulators (FFSM) in two typical on-orbit operating missions are proposed in this paper. DLCC evaluation is transformed into nonlinear programming problem (NPP) by introducing load-carrying coefficient to measure DLCC: in point-to-point task, penalty function method is adopted to approach the boundary of feasible region rapidly, then DLCC can be obtained through following iterations; in trajectory tracking task, NPP is solved by using multiple one-dimensional search, the dynamic load-carrying coefficient in discontinuous feasible region can be quickly solved through adjusting the searching boundary constantly. The effectiveness of the mentioned methods is verified by simulations.
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