The real-time Hermes robot arm simulator: HSF-P

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. The HERA system main contractor is Fokker Space & Systems B.V. (FSS). Development and qualification of such a space-based...

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...