A Trajectory Planning Method for Rapid Capturing an Unknown Space Tumbling Target

摘要

A malfunctioned satellite or other space debris bringing great challenge to capture and remove it. In this paper, we propose an efficient trajectory planning method for rapid capturing of a space tumbling target. Firstly, the kinematics model of a dual-arm space robot is deduced in details. Secondly, the motion characteristics of a tumbling target are then analyzed. Thirdly, an efficient trajectory planning method for rapid capturing of the space tumbling target is presented. It improves the speed of the capturing process. Finally, the simulation environment is created and the proposed method is verified. The simulation results show that the proposed trajectory planning method of the dual-arm space robot is effectively for tumbling target capturing. The proposed method is very important for the future applications.