Dynamics Modelling, Simulation, and Control of a Spacecraft/Manipulator System

摘要

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 inertial space, taking into account the interaction with the spacecraft. Numerical results are presented for the case of a six-degree-of-freedom manipulator mounted on a Hermes-type spacecraft.