Real-Time Simulation of Flexible Space Manipulator Dynamics

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.