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Real-Time Simulation of Flexible Space Manipulator Dynamics

Schäfer, B. and Lösch, M. and Rulka, W. (1997) Real-Time Simulation of Flexible Space Manipulator Dynamics. AIAA Guidance, Navigation, and Control Conference, New Orleans, LA,USA, August 11-13, 1997.

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Abstract

Accurate dynamic models for space manipulator systems are required for supporting both the design and the development of the system itself, and furthermore, for incorporating real-time models within an operational environment be it on ground or in space. This paper treats the whole ptoblem area encountered in both, non-real-time and real-time modelling and simulation of multibody systems with the specific emphasis on space robotics. The most important topics are covered that start from the development of a mathematical model derived from the real-world system, and extend to the special features in finding the adequate multibody formalism, the appro- priate numerical integration method, and finally some specific computer hardware features. Simulation results are presented for European robotized space applications like the European Robotic Arm (ERA), and the Experimental Servicing Satellite (ESS) coupled via a manipulator system to a non-cooperative target.

Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1997,
Title:Real-Time Simulation of Flexible Space Manipulator Dynamics
Authors:
AuthorsInstitution or Email of Authors
Schäfer, B.Institut für Dynamik der Flugsysteme
Lösch, M.Hauptabteilung Raunmflugmissionen
Rulka, W.Institut für Dynamik der Flugsysteme
Date:1997
Status:Published
Keywords:Real-time simulation, multibody dynamics space manipulator, elasticity.
Event Title:AIAA Guidance, Navigation, and Control Conference, New Orleans, LA,USA, August 11-13, 1997
Organizer:AIAA
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:Space
DLR - Program:no assignment
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Institut für Dynamik der Flugsysteme
Space Operations and Astronaut Training > Hauptabteilung Raumflugmissionen
Deposited By: elib DLR-Beauftragter
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 05:21

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