文档介绍：自由浮动冗余度空间机器人运动规划与力矩优化方法研究 ii ABSTRACT With the development of space technology, more and more science research and exploration of the outer space would be taken on by mankind. But due to bad space environment, high cost and risk of sendi ng people to space, the requirements for space robots are brought up. Free-floating sp ace robots are much concerned since they consume little fuel. This paper is to deal with motion planning and torque optimization of a free-floating redundant sp ace robotic system and to carry on some theory research and discussion full of great application value. Firstly the kinematics properties of this system are detailed, and then the whole system kinematics model is built. Comb ining the redundancy of space manipulator, the system attitude stabilization motion pl anning is plished by the resolved motion rate control method. essively the system singularity avoidance motion planning is plished through the utiliza tion of the self-motion based on the null space. After that, dynamic equations of a free-floating redundant space robot are established through the utilization of the method of multi-body dynamics. Then the system dynamics control is plished by puted torque method. At last, two local optimization approaches base d on null-space method and minimal joint torque method are applied to implement the joint torque optimization control, considering the instability of the local opt imization approach, a global optimization approach based on particle swarm algorithm is proposed, and then we deeply analyze advantage and disadvantage of the three al gorithms. The application of optimization approaches can reduce the energy consumpti on of this system on a certain extent and has a great practical significance. The paper presents in-depth research on motion planning and joint torque optimization of this space robotic system. Attitude stabilization, singularity avoidance and joint torque optimization on this syste