Global Reaction Optimization of Space Manipulator and Its Ground Test

When space manipulator moves,it will bring force/torque reactions to the spacecraft.This paper analyzes the problem,and proposes a global reaction optimization method of parameterized joint trajectory,which can reduce the force and torque reactions caused by the space manipulator.Based on air bearings,a ground experiment system for optimizing the 3-DOF space manipulator reaction is set up.At last,3-DOF manipulator is used to verify the validity of the proposed method.