Abstract
This paper presents the motion dynamics and simulation of free-flying robotic systems, which have a potential for future satellite servicing and remote planet exploration. A basic and general modeling is discussed with highlighting free-floating dynamics of a multi-arm system in tree configuration and impact dynamics under either hard or soft contact. Specific simulations are illustrated focusing on Japanese flight missions for the satellite servicing, ETS-VII, and for the sample acquisition on a small planet, MUSES-C.
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