Searched for: subject%3A%22dynamic%255C%252Bmodel%22
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Vreeburg, J.P.B. (author)
A model with two interacting bodies, for a spacecraft with liquid, has been developed. The spacecraft without liquid is the "tank" and is characterized by its inertial properties and the location and size of a spherical cavity. In the cavity is located the "slug", a sphere of uniform density with a variable radius. At the point of contact...
report 1996
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Guelman, M. (author)
The present report contains a study on the simulation of interactive fluid spacecraft dynamics. The equations of motion of the two dimensional full tank case as well as the corresponding finite different discretized equations are presented. The numerical solution of this system is studied. Results are presented for a number of cases. Based on...
report 1993
document
Ellenbroek, M.H.M. (author), de Boer, A. (author)
Fokker Space and Systems and the National Aerospace Laboratory NLR performed a study to integrate more systematically the experimental and analytical analysis of the dynamic behaviour of structures. The study focused on the correlation of experimental and analytical data, matrix and parameter updating methods. In this paper an overview will be...
report 1993
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Couwenberg, H.J.H. (author), ten Dam, A.A. (author)
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...
report 1990
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van Woerkom, P.T.L.M. (author)
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...
report 1990
document
ten Dam, A.A. (author)
A mathematical theory for modelling dynamical systems with equality state-space constraints is presented. The dynamic behaviour of these systems is represented by a combination of differential and algebraic equations. It Is shown that the freedom offered by control is essential to obtain other, mathematically equivalent formulations. The notion...
report 1990
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ten Dam, A.A. (author)
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....
report 1990
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ten Dam, A.A. (author), Dieleman, P. (author)
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...
report 1990
document
van Woerkom, P.T.L.M. (author)
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...
report 1990
document
van Woerkom, P.T.L.M. (author)
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...
report 1989
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Prins, J.J.M. (author), Dieleman, P. (author), van Woerkom, P.T.L.M. (author)
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...
report 1989
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Steenman, G.J.J. (author)
A substantial part of current research in robotics and automation is focussed on space robots and manipulators. In this research there is an increasing demand of simulation facilities. Test rigs of space robots/manipulators are usually very complex and expensive. In this report, a generic joint model is developed for the simulation facility of...
report 1988
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van Woerkom, P.T.L.M. (author)
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...
report 1988
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van Woerkom, P.T.L.M. (author)
The objective of the study is to contribute towards the formulation of a mathematical truth model for the dynamics of a robotic manipulator which is attached to an orbiting spacecraft-manipulator system consisting of rigid constituent body is assumed to be known; here the generalization to the case of structurally flexible bodies is attempted....
report 1987
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Guelman, M. (author)
The mathematical model of a space based manipulator arm with a rate controlled end effector is defined and the recursive algorithms for the computation of the basic djmamic functions are formulated. A digital simulation of this system is implemented and preliminary results are presented. Actual running times for the simulation In a VAX 750...
report 1986
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Kuijper, M. (author)
A vast amount of literature exists on the subject of robot control. However, most articles are based on only a limited number of control methods. In this report the basical principles of these control methods are described. Furthermore, some advantages and disadvantages of these methods are mentioned.
report 1986
document
van Woerkom, P.T.L.M. (author)
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...
report 1985
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Ottens, H.H. (author)
A survey of computational methods to improve dynamic analytical models described in the literature is made. Both the matrix methods and the optimal correction method of the dynamic model using the measured modes are discussed.
report 1984
document
van Woerkom, P.T.L.M. (author)
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...
report 1983
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van Woerkom, P.T.L.M. (author)
The report deals with the equations of motion of spacecraft with rigid main body, flexible appendages, and rotors and jets on the main body. The hybrid coordinate modelling method is applied. The resulting equations describe the translational motion of the spacecraft, the rotational motion, and the coupling between these two types of motion. The...
report 1981
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