Linear recursive formulation of flexible multi-body space system dynamics

Numerical simulation of the dynamics of multi-body systems constitutes a central part in the design and analysis of modern space-based systems. The report focuses on the development of a recursive formulation of the dynamics of flexible spacecraft-robotmanipulator systems, suitable for efficient numerical simulation. The rather well-established...

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

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...

Equivalent flexibility modelling for the recursive simulation of robot manipulator dymamics

The report focuses on the mathematical modelling of the dynamics of spacecraft based manipulators displaying structural flexibility in their links. The equations of motion must be cast in a form suitable for efficient numerical simulation. Equations of motion found in literature are usually written in the form of an augmented system of...

Flexible space-based robot modelling and real-time simulation

The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. Development and qualification of such a space-based manipulator must be supported by computer simulation facilities. The HERA...

A reference model for the dynamics of a flexible, spacecraft-based manipulator

The objective of the study is to develop the equations of motion of a single link, flexible manipulator, attached to an orbiting spacecraft. A payload may be attached to the end-effector of the manipulator. Starting point is d'Alembert's principle, with displacements described by hybrid coordinates. The equations of motion for the two-body...

Dynamics of flexible spacecraft: an analysis approaches towards mathematical model order reduction

Increases in size and mechanical complexity of spacecraft result in increased complexity of the mathematical model which describes the spacecraft dynamics. This results in turn in increased computational effort, in increased difficulties in understanding the characteristics of the spacecraft dynamics, and in increased difficulties in the design...

Towards digital computer simulation of the dynamics of flexible spacecraft

Software design for digital computer simulation of the dynamics of flexible spacecraft equipped with actuators and sensors, should take into account two properties of the overall system: (i) s.ampled-data control of the spacecraft leads to discontinuous inputs (forcing functions) in the differential equations of motion, thereby requiring...