The focus of the paper lies on creating a simulator for free floating (no external forces or torques; in free space) spacecraft manipulator systems (robotic arm mounted on a spacecraft) in MATLAB. Spacecraft manipulator geometry for which simulator is made consists of a base-spacecraft, manipulator links, revolute joints and end-effector. The simulator can handle various masses, Moment of Inertia, DH parameters, variable number of links and joints, etc. The simulator works on the Lagrangian approach and was independently validated against MuJoCo, an open source physics simulator for multi-body dynamics with contact.
Spacecraft Manipulator System Simulator
22.07.2024
1740775 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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