The approach for the development of simulators at the National Aerospace laboratory (NLR): Two space related examples

Simulation plays an increasingly important role during several stages and several types of space related projects, ranging from engineering support simulators to training simulators. Therefore it is required to have a common basis for the definition, the development and, finally, the use of simulators. In this paper the approach for the...

Dynamics motion simulation of the Hermes robot arm subjected to constraints

During operations with a manipulator arm situations will occur when the manipulator end-effector is, or comes, in contact with its environment. The dynamics equations, which describe the motion of the manipulator, can be represented by an ordinary differential equation for the free motion and an additional algebraic (in)equality for the motion...