Assembly Trajectory Planning of Space Telescope Sub-mirror Module Based on Time Optimal Control

The space telescope stands for the highest level of a nation's aerospace industry, with its manufacturing and launch remaining a worldwide conundrum. The concept of modularized space telescope is proposed herein, the main structure of the sub-mirror module is designed briefly and the assembly scheme of the main telescope is also provided. Besides, the kinematic equation and working conditions of the space robotic arm used for assembly are given, with the cubic B-spline curves formulating the joint space trajectory. Then, with minimizing the moving time as the objective of optimization, displacement, speed and acceleration as the constraint conditions, a mathematical model for time-optimal trajectory planning is established and the genetic algorithm is used to work out solutions. The emulation result shows that the joint space trajectory of the robotic arm obtained on the premise that all the restraint conditions are met can minimize the robotic arm's moving time.