Abstract: The objects of on-orbit service are extended to non-cooperative spin (tumbling) target from the cooperation axis stabilized targets gradually, with the development of space technology and the capabilities enhanced. In this paper, the problem of motion characteristics and motion prediction of the spin target is analyzed, and using Unscented Kalman Filter (UKF) to predict its movement. On this basis, a method of autonomous path planning of a free-floating space robot for target capturing is proposed, which is based on motion prediction and speed compensation. Finally, the method is introduced and simulated, and the simulation results show the feasibility and validity.

Key words: Spin target Motion prediction UKF Autonomous capture Path planning