Parameters identification and trajectory optimization of free-floating space robots

There is a strong dynamic coupling between the base of free-floating space robot and the space manipulator. In order to reduce the in-terference of the movement of the space manipulator on the rob ot's base, the trajectory of the space manipulator needs to be optimized. In this paper, the joint path of space manipulators is optimized by using the pseudo-spectral method to reduce the impact of the arm movement on the base. For space robots, parameters identification is the premise of trajectory planning. A pa-rameters identification method is proposed, which only needs to measure the base's angular speed. Numerical simulation results verify the validity of the proposed method. The attitude angle of floating base returns to the initial state after maneuvers of space manipulators.