Joint torque optimization method for space manipulator

Space manipulator is an integral part of space station in its life stages including construction, operation and development, during which there are tasks for the manipulator as manipulating light camera and also assembling cabins of weight. Workload range is so wide that optimization is necessary to be considered to improve execution performance on all load conditions. Firstly, this paper details least maximum strategy to optimize each joint´s torque, and in reverse can effectively improve the whole manipulator´s carrying capability. Further, with the problem of relative poor performance under heavy load to trace the established trajectory, feedforward compensation structure is employed at the level of centralized control to help. Finally experiment as process simulation of space docking is conducted to verify such methods, with “Matlab & ADAMS” platform. The experiment results indicate that the optimization method can effectively improve the load capacity.