Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : August 07, 2016 - August 10, 2016
Space robots are already playing an important role in planetary exploration and on-orbit missions due to their capability to work in hazardous and too risky space environment. For a free-floating space robot, neither position nor attitude of the vehicle are actively controlled. The free-floating space manipulators exhibit holonomic behavior due to its linear momentum conservation and non-holonomic due to the angular momentum conservation. In the dynamic modeling of multibody systems, the selection of coordinates to describe its motions are important. The equations of motion can be formulated easily in large number of natural coordinates, however the drawback is the large number of mixed differential-algebraic equations. The numerical solution of these equations is computationally inefficient for forward dynamics but efficient for inverse dynamics. On the other hand, the dynamic formulation using the relative coordinates is cumbersome, while they are computationally efficient. Further, the extra effort is required for the computation of the absolute positions, velocities, and accelerations of the multibody systems if one is interested to know its configuration for animation and other applications. Here, the equations of motion were written first in natural coordinates, then velocity transformation matrix was used to derive the minimal set of equations of motion in relative coordinates.
