Flexible space-based robot modelling and real-time simulation

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...

On fictitious joints modelling of manipulator link flexibility for the HERA simulation facility pilot

The mathematical model for the dynamics of HERA must take into account structural flexibility in the slender manipulator links. For the HERA Simulation Facility Pilot, the model will contain one bending mode in each bending plane, and one torsion mode. The present document describes how this model can be simulated with rigid body simulation...

Modelling and simulation of a rate controlled manipulator ARM

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...