Design Of Manipulator Trajectory Planning And Control System Aimed To Capture Non-cooperative Target

Since the new century, with the development of space technology, human use of outer space is more and more frequent. As the outer space to become a new strategic high ground,anti-satellite weapon were put forward. Capture-satellites as a kind of anti-satellite weapon,because of high feasibility, can catch each other and complete access to other satellites information, thus brought to the attention of the various space power. Paper is based on this background, the research to solve several key problems. The main contents are as follows:This paper studies the tracking satellite based on dual quaternion kinematics and dynamics equations between with the target satellite. Based on the study of the satellite orbital dynamics and attitude dynamics, considering the attitude and the satellite orbit coupling relationship, this paper established the integrated satellite posture rail dynamics and kinematics equation. The simulation proves the validity of the equation.This paper studies the mechanical arm kinematics and dynamics equations based on dual quaternion. In traditional space manipulator kinematics and dynamics research, on the basis of considering the mechanical arm connecting rod coupling motion position and attitude, a new dynamics and kinematics equation is established based on dual quaternion. The simulation proves the validity of the equation.This paper studies the space manipulator trajectory planning method. This paper conduct the research on space six joints and six degrees of freedom mechanical arm system. Due to the mechanical arm system joint movement in one plane, so the method of parameterized joint function is adopted. The core of this method is the joint Angle rotation with a five times polynomial representation, by solving polynomial to solve the mechanical arm joint Angle movement. The advantage of this method is simple, and the study of the method is mature. In this paper, the trajectory planning method, and the results are the simulation verification.This paper studies the space manipulator motion controller design. The matching of PD controller was designed in the paper based on the dual quaternion kinematics and dynamics models of mechanical arm system. The controller makes the mechanical arm system position and attitude motion of convergence. The simulation proves the validity of the equation.