Explicit dynamics of space free-flyers with multiple manipulators via SPACEMAPLE

Moosavian, SAA; Papadopoulos, E

dc.contributor.author	Moosavian, SAA	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:20:29Z
dc.date.available	2014-03-01T01:20:29Z
dc.date.issued	2004	en
dc.identifier.issn	0169-1864	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/15936
dc.subject	Dynamics	en
dc.subject	Modeling and simulation	en
dc.subject	Space robotic systems	en
dc.subject.classification	Robotics	en
dc.subject.other	Computer simulation	en
dc.subject.other	Dynamics	en
dc.subject.other	Equations of motion	en
dc.subject.other	Kinetic energy	en
dc.subject.other	Lagrange multipliers	en
dc.subject.other	Robotics	en
dc.subject.other	Satellites	en
dc.subject.other	Space free-flying robot	en
dc.subject.other	Space robotic systems	en
dc.subject.other	Manipulators	en
dc.title	Explicit dynamics of space free-flyers with multiple manipulators via SPACEMAPLE	en
heal.type	journalArticle	en
heal.identifier.primary	10.1163/156855304322758033	en
heal.identifier.secondary	http://dx.doi.org/10.1163/156855304322758033	en
heal.language	English	en
heal.publicationDate	2004	en
heal.abstract	This paper focuses on the dynamics of a multiple manipulator space free-flying robot (SFFR) with rigid links and issues relevant to the development of appropriate control algorithms. To develop an explicit dynamics model of such complex systems, the Lagrangian formulation is applied. First, the system kinetic energy is derived based on a developed kinematics approach. Then, through vigorous mathematical analyses, three formats are obtained which describe the contribution of each term of kinetic energy to the equations of motion. Next, explicit derivations of a system's mass matrix, and of the vectors of non-linear velocity terms and generalized forces are introduced for the first time. The obtained dynamics model is very useful for dynamics analyses, design and development of control algorithms for such complex systems. The explicit SFFR dynamics can be implemented either numerically or symbolically. Following the latter approach, the developed symbolic code for dynamics modeling, i.e. SPACEMAPLE, and its verification procedure are described, and issues relevant to the development and computation of dynamics models in control algorithms are briefly discussed. Specific dynamic characteristics of SFFRs compared to fixed-base manipulators are pointed out.	en
heal.publisher	VSP BV	en
heal.journalName	Advanced Robotics	en
dc.identifier.doi	10.1163/156855304322758033	en
dc.identifier.isi	ISI:000220665300006	en
dc.identifier.volume	18	en
dc.identifier.issue	2	en
dc.identifier.spage	223	en
dc.identifier.epage	244	en