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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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)|
|Title:||Real-Time Simulation of Flexible Space Manipulator Dynamics|
|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|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||no assignment|
|HGF - Program Themes:||no assignment|
|DLR - Research area:||Space|
|DLR - Program:||no assignment|
|DLR - Research theme (Project):||UNSPECIFIED|
|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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