中文摘要：

对自由漂浮状态下的欠驱动空间机械臂运动规划采用一种基于关节空间参数化的规划方法,该方法引入高阶多项式对关节角函数进行参数化处理,仅通过控制机械臂关节角运动使载体和机械臂同时达到目标位姿。首先讨论系统的一般运动规划;其次研究限制航天器载体姿态转角,利用粒子群优化算法对系统载体姿态加入性能指标函数进行最优运动规划,通过仿真实验对上述几种方法进行了对比分析。

英文摘要：

In this paper,the motion planning of underactuated space manipulator in free-floating mode is investigated.A method is presented which uses high order polynomials as the desired path in joint-space.Both the location of the end effectors and the attitude of the base is controlled by using manipulator actuators only.Firstly,the general motion planning of underactuated space manipulator is discussed.Then,the parameters are optimizated by limiting the base attitude and adding the performance index function to study the optimal motion planning.Finally,the particle swarm optimization algorithm is introduced to study the optimal motion planning problem.Analysis and comparison of the simulation results show that our method is feasible and efficient.