Path Planning of Space Robot Based on Multiple-phase Gaussian Pseudospectral Method

Due to low calculation efficiency of traditional path planning methods for free floating space robot and not meet the real-time requirements, a path planning method based on multiple-phase Gauss pseudo spectrum method for free floating space robot was designed. First, considering the constraints such as joint angle constraints, joint angular velocity constraints, and various other constraints, the space robot path planning problem is considered as the optimal control problem that satisfies a series of constraints and boundary conditions and achieves the optimal performance index. Secondly, combining the multiple-phase Gauss pseudospectral method and nonlinear planning technology, the optimal control problem is solved, and the space robot trajectory satisfying the constraints and having the best performance index is obtained. Finally, data results verified the algorithm is optimal.