Joint Trajectory Planning of Space Modular Reconfigurable Satellites Based on Kinematic Model

Abstract

This paper investigates the application of particle swarm optimization (PSO) algorithm to plan joint trajectories of the space modular reconfigurable satellite (SMRS). SMRS changes its configuration by joint motions to complete various space missions; its movement stability is affected by joints motions because of the dynamic coupling effect in space. To improve the movement stability in reconfiguration progress, this paper establishes the optimization object equation to characterize the movement stability of SMRS in its reconfiguration process. The velocity-level and position-level kinematic models based on the proposed virtual joint coordinate system of SMRS are derived. The virtual joint coordinate system solves the problem of asymmetric joint coordinate system resulted by the asymmetric joint arrangement of SMRS. The six-order and seven-order polynomial curves are chosen to parameterize the joint trajectories and ensure the continuous position, velocity, and acceleration of joint motions. Finally, PSO algorithm is used to optimize the trajectory parameters in two cases. Consistent optimization results in terms of the six-order and seven-order polynomial in both cases prove the PSO algorithm can be effectively used for joint trajectory planning of SMRS.

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

“…The relative poses of non-adjacent links can be obtained by the successive multiplications of adjacent link homogeneous transformation matrices [7]. Equation (2) shows the pose of the ith link relative to Σ b .…”

“…Then, the calculation of the pose matrix of the link on the b side only needs to multiply the homogeneous transformation matrix from the Jv to Σ b between the first joint coordinate system and Σ b . More details can be seen in reference [2]. Then, the DOF of the a side is 12, and, the DOF of the b side is 13 due to the existence of virtual joints.…”

“…The type and number of modules carried by the SMSRS are configured to mission requirements. The modular design of the SMSRS facilitates the reconfiguration in space and the folding and packaging before launch [2]. The modules of the SMSRS are connected by three rotating joints whose axes are orthogonal to each other to form degrees of freedom (DOFs) relative to rotation, rolling, and yaw directions so that the SMSRS can adaptively adjust its configuration.…”

A Review of Spatial Robotic Arm Trajectory Planning

“…The accessibility of the configuration was extended. An et al [70] studied the joint trajectory planning of a modular reconfigurable satellite in space, and they proposed a virtual joint coordinate system, as shown in Figure 7. The D-H method based on the virtual joint coordinate system can effectively solve the problem of space orientation asymmetry of reconfigurable joints axis on both sides of the base coordinate system of SMRS.…”