Abstract
In recent years, the space robot which does various work by the manipulator is researched actively, in order to cope with various problems in an astronaut's activities outboard. Unfortunately, the motion of a space manipulator causes disturbance to the spacecraft, because angular momentum is conserved in space. Since it is impossible to integrate the velocity constraint with respect to time, the system is considered to be a first-order nonholonomic system. In this paper, based on the idea of a multi-body dynamics, motion analysis is done in consideration of conservation laws of angular momentum to build an equation of motion in three dimensions.
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