A Novel Method for Inverse Kinematics Solutions of Space Modular Self-Reconfigurable Satellites with Self-Collision Avoidance

Space modular self-reconfigurable satellites (SMSRSs) are a new type of satellite with reconfigurable structures and adjustable functions. The inverse kinematics the hyper-redundant structure SMSRSs difficult to solve by traditional methods. In this paper, SMSRS is transformed into an optimization problem solved using method. Moreover, avoidance self-collision implemented in process. Firstly, kinematic model established. Then, find more accurate solutions, novel Segmented Hybrid CMA-ES PSO (SHCP) algorithm proposed. used for three cases problems, results prove method effective avoidance. Compared variants, meta-heuristic algorithms, hybrid has higher accuracy, proving its better performance on SMSRS.