Multiobjective preimpact trajectory planning of space manipulator for self-assembling a heavy payload

To assemble a heavy payload to the spacecraft (free-floating base), present study proposes scheme of multiobjective trajectory planning for preimpact motion redundant space manipulator (mounted on base). Force impulse self-assembly is derived as function joint angles/velocities, base pose, and impact direction. The problem formulated optimization minimize force impulse, attitude disturbance, energy consumption in load-carrying process. A two-stage algorithm proposed. be specific, at first stage, multiple desired configurations contact point are generated by position-level inverse kinematics with Newton–Raphson iterative method. At second trajectories satisfying angle limits parameterized coefficients sinusoidal polynomial functions. Multiobjective particle swarm adopted solve planning, screening process conducted reserve nondominated solutions torques. implemented seven degrees freedom manipulator, effectiveness proposed method verified simulation results.