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...

Numerical solution of dynamical systems with equality state-space constraints

Numerical simulation of constrained dynamical systems is known to exhibit stability problems even when the unconstrained system can be simulated in a stable manner. We show that not the constraints themselves, but the transformation of a continuous set of equations to a discrete set of equations is the true source of the stability problem....

Study on efficient numerical time-integration methods for simulation of multi-body systems

This report describes the results of an evaluation of numerical integration schemes to be used for the digital simulation of second order ordinary differential equations (ODE's) which are characteristic for multibody systems such as space manipulators. The study focuses on dedicated schemes for this type of systems. Main attention is paid to the...

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...

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...