Quaternion-Based Constrained Dynamics Modeling of a Space Manipulator with Flexible Arms for Servicing Tasks
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ORIGINAL PAPER
Quaternion‑Based Constrained Dynamics Modeling of a Space Manipulator with Flexible Arms for Servicing Tasks Marcin Kłak1,2 · Elżbieta Jarzębowska1 Received: 4 June 2020 / Revised: 17 August 2020 / Accepted: 20 August 2020 © The Author(s) 2020
Abstract Background The paper presents modeling of space manipulators whose structures are composed of rigid and flexible components. Due to their applications for variety of servicing missions, their dynamics and attitude are described using quaternions. Parameterization by the quaternions does not share Euler angles’ drawbacks and is computationally more efficient. Another challenge is the motion equations derivation method. Methods Due to poor scalability of Lagrange method equations, authors decided to model the space robot as a set of links subjected to position constraints.The elastic effects are modeled with the assumed mode method successfully applied to a variety of ground manipulators with flexible links. The constrained dynamics approach and the assumed mode method are combined to derive a comprehensive space manipulator dynamics. Its dynamic model is readily scalable in terms of number of both rigid and flexible robotic arms and links. Conclusions The paper contributes to the development of effective quaternion-based constrained dynamics for space structures equipped with flexible links. The theory is illustrated by simulation studies of an example of a space manipulator attitude dynamics. Keywords Quaternion-based modeling · Flexible links spacecraft · Free-floating spacecraft
Introduction Servicing dedicated spacecraft equipped with robotic manipulators, which we refer to later as the space manipulators become more widely used in variety of applications like on-orbit servicing, asteroid mining, active space debris removal and space mining. Examples of such missions can be found in [1] and references there. Servicing spacecraft equipped with the space manipulator is a complex dynamic system embedded into disciplines of mechanics and aerospace engineering. The dynamics between the space manipulator and the base-spacecraft are coupled, the system requires nonlinear control systems to meet capture or manipulation goals, ensure mission completion as * Marcin Kłak [email protected]; [email protected] Elżbieta Jarzębowska [email protected] 1
Warsaw University of Technology, Nowowiejska 24, 00‑665 Warsaw, Poland
GMV Innovating Solutions, Hrubieszowska 2, 01‑209 Warsaw, Poland
2
well as disturbance and vibration compensations. Effects of the space manipulator operations on the orientation and position of the base were studied in many works; see e.g. [2]. Specifically, effects of fast-moving space manipulator mounted on small base-spacecraft were critical to position and orientation disturbances of the base as discussed in [3, 4]. There are thus increasing needs for the spacecraft with space manipulator applications, and reasons for which engineers developing spacecraft control and sensor systems, communication systems and opera
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