A mathematical truth model for the dynamics of a robotic manipulator which is attached to an orbiting spacecraft-manipulator system consisting of structurally flexible bodies is discussed. The dynamics equations for a single constituent body in the spacecraft-manipulator system are developed, using the method of hybrid coordinate modeling. The equations obtained are to form the basis for the development of the dynamics equations of the entire spacecraft manipulator system.
Flexible Robotic Manipulator in Space: Towards a Mathematical Dynamics Truth Model
1987
49 pages
Report
No indication
English
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