Abstract
This paper lays out a framework to model the kinematics and dynamics of a rigid spacecraft-mounted multibody robotic system. The framework is based on dual quaternion algebra, which combines rotational and translational information in a compact representation. Based on a Newton-Euler formulation, the proposed framework sets up a system of equations in which the dual accelerations of each of the bodies and the reaction wrenches at the joints are the unknowns. Five different joint types are considered in this framework via simple changes in certain mapping matrices that correspond to the joint variables. This differs from previous approaches that require the addition of extra terms that are joint-type dependent, and which decouple the rotational and translational dynamics.
Highlights
The interest to operate servicing spacecraft in space has led to wide-ranging research in academia, governmental agencies, and private companies
In this paper we have provided an intuitive approach to derive the dynamics of a satellite with a rooted-tree configuration with different joint types, including revolute, prismatic, spherical, cylindrical, and cartesian joints using dual quaternions
The approach exploits the structure of the Newton-Euler form of the dynamical equations of motion for a rigid body in dual quaternion form, allowing for the determination of the reaction wrenches at the joints
Summary
The interest to operate servicing spacecraft in space has led to wide-ranging research in academia, governmental agencies, and private companies. One tool of particular interest that has garnered attention for proximity operations, during which the attitude, and the position of a spacecraft has to be precisely controlled, are dual quaternions, see for example Filipe and Tsiotras (2013a), Seo (2015), and Filipe et al (2015). We add to this body of literature, having as a goal to provide an intuitive development of the multibody dynamics of a spacecraft-mounted manipulator system in dual quaternion algebra using a Newton-Euler approach. The aim is to provide a unified mathematical framework in which to model the different phases of a servicing mission
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
