LAUSR

Simultaneous multidirectional orientation tasks on space robots exhibit strong dynamic coupling between the manipulators and the base-spacecraft, and this phenomenon is more obvious in the micronano space robot. Regarding to the highly coupled dynamic system of micronano space robot and its nonholonomic constraints, a multidirectional rapid orientation method of micronano space robot based on optimization theory is proposed in this article. Dynamic model of satellite-manipulators cooperative operation micronano space robot is established by the combination of virtual manipulator and Newton–Euler method. Then, taking the acceleration continuous cubic polynomial trajectory planning method and the dynamics-based feedback linearization controller as an example, the particle swarm optimization method is used to solve the time and path nodes of the orientation process of the micronano space robot. Finally, three typical spatial orientation problems are simulated to verify the feasibility and rapidity of this orientation method: 1) simultaneous orientation; 2) assisted orientation; and 3) cooperative braking. Furthermore, the article presents the structure of the objective function for optimization in different multicomponent and multiobjective coorientation tasks.