A kinematic equation and trajectory planning of flexible arm space robot

The researches of flexible arm space robot kinematics are less, so as the trajectory planning researches from the kinematics aspect, the reason is flexible arm elastic vibration which has infinite dimensional vibration modality turn the space robot system kinematics to very complex. This paper denotes the elastic variable of space robot flexible arms with the flexible arm link end deformation and deformation angle, overcome the difficulty which may be brought by infinite dimensional vibration modality variable of flexible arm in modeling system kinematics. The kinematic equation of flexible arm space robot which includes elastic variable is established in the form of generalized Jacobian matrix. Continuous trajectory planning algorithm of flexible arm space robot in inertial space reference system is designed based on the kinematic equation. The simulation shows that planned rotary movement law of space robot arm joints may compensate for the impact that vibration of space robot flexible links gives to the end position of space robot arms, and ensure the end of space robot arms along the expected trajectory.