Trajectory Planning for Robotic Arm Contacting Small Satellites

This paper presents a proof of concept of utilizing Model Predictive Control (MPC) as away to predict reactionary movements and control a free-floating manipulator. This model is based on a one degree of freedom linear rail system that allows reactionary movement in only one direction. Both position and orientation are considered and constrained to work with the testbed simulating the spacecraft. Velocity inputs are used to work with the Universal Robots robotic arm and minimized to increase safety and decrease unnecessary movement. The robotic system is able to plan, execute, and re-plan based on model mismatch without major consequences to the system itself.