Parameters identification and trajectory optimization of free-floating space robots

There is a strong dynamic coupling between the base of free-floating space robot and manipulator. In order to reduce interference movement manipulator on robot's base, trajectory needs be optimized. this paper, joint path manipulators optimized by using pseudo-spectral method impact arm base. For robots, parameters identification premise planning. A proposed, which only measure base's angular speed. Numerical simulation results verify validity proposed method. The attitude angle floating returns initial state after maneuvers manipulators.