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.