A redundant manipulator design for active space debris removal

Considering space debris population keeping growing on the stationary orbit, a 7-DOF space redundant manipulator has been proposed for active space debris removal with large size (larger than 10cm). Specifically, based on the virtual manipulator (VM) kinematics modeling, a kinematics model of 7-DOF space manipulator is built and the kinematic equation is constructed in free flying mode. Then, an inverse kinematics optimization approach is achieved based on the weighted least-norm solution (WLN). Simulation results clearly show that superior trajectory tracking control for space debris in the manipulator reachable space can be achieved in the space microgravity environment, which provides theoretical support of space manipulator kinematic level for further debris capture and removal.