Print Email Facebook Twitter Dynamics modelling, simulation, and control of a spacecraft/manipulator system Title Dynamics modelling, simulation, and control of a spacecraft/manipulator system Author van Woerkom, P.T.L.M. Guelman, M. Institution National Aerospace Laboratory NLR Date 1987-08-04 Abstract Four well-known formalisms for mathematical modelling of the dynamics of a spacecraft/manipulator system are derived from the unifying d'Alembert principle. The Newton-Euler formalism is discussed in more detail, as it allows efficient numerical simulation. An algorithm is defined for the control of the manipulator end-effector motion in inertial space, taking into account the interaction with the spacecraft. Numerical results are presented for the case of a six-degree-of-freedom manipulator mounted on a Hermes-type spacecraft. Paper presented at the First European In-Orbit Operations Technology Symposium, Darmstadt, West Germany, 7-9 September 1987. Subject algorithmscontroldynamicsmanipulatorsmechanismsmodellingmulti-body systemsroboticssimulation To reference this document use: http://resolver.tudelft.nl/uuid:624dff07-7cfd-4e21-b423-61b75f9da586 Publisher Nationaal Lucht- en Ruimtevaartlaboratorium Access restriction Campus only Source NLR MP 87053 U Part of collection Aerospace Engineering Reports Document type report Rights (c) 1987 National Aerospace Laboratory NLR Files PDF 87053.pdf 10.72 MB Close viewer /islandora/object/uuid:624dff07-7cfd-4e21-b423-61b75f9da586/datastream/OBJ/view