Lagrange's modification of d'Alembert's principle, the Euler-Lagrange formalism, Kane's formalism, and the Newton-Euler formalism for modeling the dynamics of a spacecraft/manipulator system are reviewed. The Newton-Euler formalism is discussed in more detail, since it allows efficient numerical simulation. An algorithm is defined for the control of the manipulator end-effector motion in inertial space, taking into account the interaction with the spacecraft. Numerical results for the case of a six degree-of-freedom manipulator mounted on a Hermes-type spacecraft are presented.
Dynamics Modeling, Simulation, and Control of a Spacecraft/Manipulator System
1987
10 pages
Report
Keine Angabe
Englisch
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