Publication:
Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer's Tutorial

Loading...
Thumbnail Image
Authors
Wilde, Markus
Choon, Stephen Kwok
Grompone, Alessio
Romano, Marcello
Subjects
Advisors
Date of Issue
2018-04
Date
Publisher
www.frontiersin.org
Language
Abstract
The paper provides a step-by-step tutorial on the Generalized Jacobian Matrix (GJM) approach for modeling and simulation of spacecraft-manipulator systems. The General Jacobian Matrix approach describes the motion of the end-effector of an underactuated manipulator system solely by the manipulator joint rotations, with the attitude and position of the base-spacecraft resulting from the manipulator motion. The coupling of the manipulator motion with the base-spacecraft are thus expressed in a generalized inertia matrix and a GJM. The focus of the paper lies on the complete analytic derivation of the generalized equations of motion of a free-floating spacecraft-manipulator system. This includes symbolic analytic expressions for all inertia property matrices of the system, including their time derivatives and joint-angle derivatives, as well as an expression for the generalized Jacobian of a generic point on any link of the spacecraft-manipulator system. The kinematics structure of the spacecraft-manipulator system is described both in terms of direction-cosine matrices and unit quaternions. An additional important contribution of this paper is to propose a new and more detailed definition for the modes of maneuvering of a spacecraft-manipulator. In particular, the two commonly used categories free-flying and free-floating are expanded by the introduction of five categories, namely floating, rotation-floating, rotation-flying, translation-flying, and flying. A fully-symbolic and a partially-symbolic option for the implementation of a numerical simulation model based on the proposed analytic approach are introduced and exemplary simulation results for a planar four-link spacecraft-manipulator system and a spatial six-link spacecraft manipulator system are presented.
Type
Article
Description
The article of record as published may be found at http://dx.doi.org/10.3389/frobt.2018.00041
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
24 p.
Citation
Wilde, Markus, et al. "Equations of motion of free-floating spacecraft-manipulator systems: an engineer's tutorial."�Frontiers in Robotics and AI�5 (2018): 41.
Distribution Statement
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