Quasi-recursive dynamics equations for spacecraft-based flexible robotic manipulators

Quasi-recursive dynamics equations for spacecraft-based flexible robotic manipulators

van Woerkom, P.T.L.M.

National Aerospace Laboratory NLR

1990-01-16

The report contains the development of the dynamics equations of a spacecraftmanipulator system with chain topology. The spacecraft may be flexible. The attached manipulator consists of an arbitrary number of links, connected by single degree-of-freedom rotational joints. None, any, or all of the links may be flexible. A rigid or flexible payload can be accommodated, as part of the last link. d'Alembert's Principle is used as a starting point for the derivation of the dynamics equations. The equations obtained hold for arbitrary geometry and arbitrary mass properties. By expressing the virtual displacement of an elementary mass in recursive form, algebraic labor spent In the development Is reduced, and the algebraic complexity of the resulting equations Is reduced as well.

manipulators
dynamic models
many body problem
flexible bodies
flexible spacecraft
robotics
computerized simulation
Euler-Lagrange equation
algorithms
kinematic equations

http://resolver.tudelft.nl/uuid:adaa0f0a-7881-47d5-a137-68b5ccf7abfd

Nationaal Lucht- en Ruimtevaartlaboratorium

Campus only

NLR Technical Publication TP 90028 U

Aerospace Engineering Reports

report

(c) 1990 National Aerospace Laboratory NLR