Dynamics modelling, simulation, and control of a spacecraft/manipulator system

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...

Equivalent flexibility modelling: A novel approach towards recursive simulation of flexible spacecraft-manipulator dynamics

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...

Dynamica 3-A: Lecture Notes wb1303

Lecture Notes for course wb 1303 Dynamica 3-A, Faculty 3me/Mechanical Engineering, TU Delft. Contents: Continuous systems; Dynamics of a reciprocating engine; Non-linear systems; Kinematics and dynamics of multi-body systems; Exercises.