Abstract
This paper presents a canonical modeling approach of a micro/nano free-flying space robot with/without interaction with a floating object. A first-order dynamical model is obtained by using the concept of generalized momenta subjected to different constraints. In the proposed model the time is considered as a mechanical variable along with other dependent variables rather than an independent variable. This results into an extension of conservation of momentum of the mechanical system with a drift in the space-time. The proposed approach may serve as a first step to detect the nature of space-time and the energy associated with it. Finally, simulation results of a 6-DOF micro space robot are demonstrated to verify the analytical results.
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