Tracking Trajectory Planning of Space Manipulator for Capturing Uncontrolled Spinning Satellite

On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is a great challenge for future space service. The paper mainly presents a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of kinematic multi-solutions and dynamic singularities of space robot system. Therefore, we utilize an interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it