Research on Torque Control Algorithm for Path Planning of Free Floating Space Robots Capturing Target

Aiming at path planning problem of FFSR capturing moving targets, firstly, this paper establishes the kinematics model of FFSM, deduces the formula for effective calculation of GJM, and puts forward a fast algorithm for calculating GJM. Secondly, a dynamic model of FFSM is established. This method solves the velocity and angular velocity of each link of FFSM according to the angle and angular velocity of all joints of a given FFSM. According to the given angle, angular velocity and angular acceleration of all joints of FFSM, the angular accelerations and accelerations of each link of FFSM are solved. According to Newton's law and Euler's angular momentum equation, the forces and moments acting on the chain rod of FFSM are solved. Then an effective joint torque solution algorithm of FFSM is established. Finally, based on the GJM and joint torque fast solution algorithm proposed in this paper, combined with RMRC control strategy, a torque control algorithm for path planning of FFSM capturing target is proposed, which greatly improves the efficiency of FFSM motion control.