Spacecraft robotics toolkit: an open-source simulator for spacecraft robotic arm dynamic modeling and control
Author
Virgili-Llop, Josep
Drew, Jerry V., II
Romano, Marcello
Date
2016Metadata
Show full item recordAbstract
An open-source, six-degree-of freedom kinematic and dynamic software toolkit for a spacecraft with attached robotic
arm has been developed and released. The toolkit is capable
of simulating a floating or a flying base and can handle external forces, both in operational and in joint space. Based
on a Newton-Euler approach which makes use of the Decoupled Natural Orthogonal Complement matrix, the forward
and inverse dynamics are solved using an efficient, recursive
O (n) algorithm. Recursive O (n) formulations to obtain
the generalized inertia and convective inertia matrices have
also been implemented. Written as a collection of function
for MATLAB/ Simulink, the toolkit is very modular and it
can be used for standalone MATLAB scripts or for Simulink
models. The resulting Simulink models are suitable for code
generation and thus can be readily compiled and executed
into embedded hardware or integrated with third party tools.
In addition to modeling the kinematics and dynamics, the
software includes tools to help the user create control and
analysis applications.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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