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document
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van Woerkom, P.T.L.M. (author), Guelman, M. (author)
Four well-known formalisms for mathematical modelling of the dynamics of a spacecraft/manipulator system are derived from the unifying d'Alembert principle. The Newton-Euler formalism is discussed in more detail, as it allows efficient numerical simulation. An algorithm is defined for the control of the manipulator end-effector motion in...
report 1987
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