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van Woerkom, P.T.L.M. (author)For the simulation of rigid spacecraft manipulator dynamics there exists efficient recursive software. Extension of this software for the simulation of flexible spacecraft-manipulator dynamics would have important advantages. In this paper the method of Equivalent Flexibility Modelling (EFM) is outlined. Each flexible body is re-modelled as a...report 1989
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Prins, J.J.M. (author), Dieleman, P. (author), Hoogstraten, J.A. (author)The Hermes Manipulation System (HERA) will be an important part of the Hermes space plane system. The HERA is a sophisticated space manipulator system, which has to perform tasks ranging from capture and berthing to tool operation in various operational modes from fully automatic to purely manual. The HERA system main contractor is Fokker Space ...report 1987
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Pronk, C.N.A. (author), Ersü, E. (author), Lippay, A.L. (author), Elfving, A. (author)Recently, the European Space Agency (ESA) initiated two studies to define a simulation facility for space operations involving space manipulators and other in-orbit servicing and assembly systems. This European Robotic Operations Simulator (EUROSIM) will play an important role during system development as well as prior and parallel to...report 1987
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van Woerkom, P.T.L.M. (author), Guelman, M. (author)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...report 1987