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...

Modelling dynamical systems with equality state-space constraints

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...

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...

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...