Simultaneous multi-directional orientation tasks on space robots exhibits strong dynamic coupling between the manipulators and the base-spacecraft, and this phenomenon is more obvious in the micro-nano space robot. Regarding to the highly coupled dynamic system of micro-nano space robot and its nonholonomic constraints, a multi-directional rapid orientation method of micro-nano space robot based on optimization theory is proposed in this paper. Dynamic model of satellite-manipulators cooperative operation micro-nano space robot is established by the combination of virtual manipulator (VM) and Newton-Euler method. Then, taking the acceleration continuous cubic polynomial trajectory planning method and the dynamics-based feedback linearization controller as an example, the particle swarm optimization (PSO) method is used to solve the time and path nodes of the orientation process of the micro-nano space robot. Finally, three typical spatial orientation problems are simulated to verify the feasibility and rapidity of this orientation method, which are simultaneous orientation, assisted orientation and cooperative braking, respectively. Furthermore, the paper presents the structure of the objective function for optimization in different multi-component and multi-objective co-orientation tasks.

Space robots exhibit a strong dynamic coupling between the manipulator and the base spacecraft, with this phenomenon being particularly pronounced in mini space robots. The uncertainty surrounding the inertial parameters of space robots often renders dynamics-based controllers ineffective, and identifying these parameters in an on-orbit environment poses significant challenges. In this paper, we propose an adaptive controller for dynamic approximation that is specifically designed for mini space robots. This controller employs a linear separation of inertial parameters and utilizes recursive least-squares and Lyapunov methods to update the inertial parameter vectors. Simulation results validate the effectiveness of this adaptive controller in enabling mini space robots to accurately track predefined trajectories. Additionally, we compare the effects of the two parameter update methods on the controller stability under varying prior inertial parameter errors. The proposed inertial parameter separation adaptive controller significantly approximates the dynamics of mini space robots and facilitates precise on-orbit control, thereby offering considerable potential for advancing space exploration, satellite missions, and robotic operations.