Dynamics modeling and simulation of space manipulator based on spatial vector

Based on the need of the real-time dynamic simulation of space robot in the hardware-in-the-loop simulation system and modeling analysis of control system, the notation of spatial vector is applied to describe Articulated-Body Algorithm (ABA) for the modeling and simulation of floating base space manipulator system. Recursive multi-body dynamics of space manipulator based on the notation of spatial vector is proposed, and the dynamic calculation flowchart of the space manipulator is designed. The model of the space manipulator based on this algorithm can be used in real-time simulation, the disturbance of floating base due to the motion of manipulator can also be computed. The simulation results are compared with those in the SimMechanics. By comparison, we can conclude that the proposed algorithm based on the notation of spatial vector is efficient and correct.