Trajectory Planning and Control Method of Space Servo Manipulator System

Space manipulator has been widely used in many space missions, including on-orbit docking, construction and maintenance, and astronauts' activities in space. In the aspect of manipulator planning and control, the current research mainly focuses on the motion trajectory planning and stability control of space manipulator, while the research on the space repeatable acquisition and locking technology for adaptive servo of signal source is relatively few. In this study, a space servo manipulator system and an optical path servo control method based on reinforcement learning for the manipulator were designed, so that the space manipulator could adapt to adjust the position of the end load according to the signal changes of the optical path, to complete the tracking of the optical path signal. The feasibility of the system was verified through mathematical simulation and physical objects.