Research on satellite attitude stabilization motion control algorithm for redundant multi manipulator free floating space robot capturing non-cooperative target

In response to the satellite attitude (SA) stability problem faced by the RMMFFSR in capturing NCT, firstly, the forward kinematics (FK) equation of RMAFFSM based on RMMGJM was established. Secondly, RMAFFSM decompose motion speed control (DMSC) method based on RMMGJM was proposed, and DMSC algorithms for RMAFFSM multi arm coordinated motion(CM) to stabilize SA and RMAFFSM multi joint CM to stabilize SA were designed. Finally, an RMAFFSM SA control system (MSACS) and a SA controlled DMSC algorithm were designed. The RMAFFSM multi arm planning system was combined with the MSACS to propose an RMAFFSM SA motion control (MC) algorithm based on attitude Interference Prediction (IP) and an RMAFFSM autonomous coordinated MC algorithm for stabilizing SA.