Efficient Numerical Integration Method for Dynamic of Flexible Space Robots System

Author

Tian Fuyang ; Wu Hongtao ; Sun Hongli

Author_Institution

Dept. Mech. & Electr. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing

fYear

2009

fDate

1-2 Feb. 2009

Firstpage

102

Lastpage

106

Abstract

As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics. The dynamics model of the space flexible robots is very complex, and the differential equation derived from dynamics was solved difficultly and slowly. In this paper the dynamics of space flexible robots was discussed, and the fast efficient integration method was used to solve this complex differential equation. Simulations results show that the dynamic modeling and fast efficient numerical integration techniques of flexible space robot proposed in this paper are very useful.

Keywords

aerospace robotics; differential equations; integration; robot dynamics; differential equation; dynamics model; fast efficient integration method; flexible space robots system; numerical integration method; Aerodynamics; Differential equations; Lagrangian functions; Manipulator dynamics; Numerical simulation; Orbital robotics; Robot kinematics; Robotics and automation; Satellites; Space technology; dynamic efficient integration method; flexible multibody; space robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics, 2009. CAR '09. International Asia Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-3331-5

Type

conf

DOI

10.1109/CAR.2009.9

Filename

4777203