Momentum-Based Dynamics for Spacecraft with Chained Revolute Appendages
- Author:
- Gonzalez, Marcelo
- Published:
- [2005].
- Physical Description:
- 1 electronic document
- Additional Creators:
- Queen, Steven and London, Ken
Online Version
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- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access - Summary:
- An efficient formulation is presented for a sub-class of multi-body dynamics problems that involve a six degree-of-freedom base body and a chain of N rigid linkages connected in series by single degree-of-freedom revolute joints. This general method is particularly well suited for simulations of spacecraft dynamics and control that include the modeling of an orbiting platform with or without internal degrees of freedom such as reaction wheels, dampers, and/or booms. In the present work, particular emphasis is placed on dynamic simulation of multi-linkage robotic manipulators. The differential equations of motion are explicitly given in terms of linear and angular momentum states, which can be evaluated recursively along a serial chain of linkages for an efficient real-time solution on par with the best of the O(N3) methods.
- Other Subject(s):
- Collection:
- NASA Technical Reports Server (NTRS) Collection.
- Note:
- Document ID: 20050242042.
Flight Mechanics Symposium; 18-20 Oct. 2005; Greenbelt, MD; United States. - Terms of Use and Reproduction:
- No Copyright.
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