Title :
Efficient Numerical Integration Method for Dynamic of Flexible Space Robots System
Author :
Tian Fuyang ; Wu Hongtao ; Sun Hongli
Author_Institution :
Dept. Mech. & Electr. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing
Abstract :
As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics. The dynamics model of the space flexible robots is very complex, and the differential equation derived from dynamics was solved difficultly and slowly. In this paper the dynamics of space flexible robots was discussed, and the fast efficient integration method was used to solve this complex differential equation. Simulations results show that the dynamic modeling and fast efficient numerical integration techniques of flexible space robot proposed in this paper are very useful.
Keywords :
aerospace robotics; differential equations; integration; robot dynamics; differential equation; dynamics model; fast efficient integration method; flexible space robots system; numerical integration method; Aerodynamics; Differential equations; Lagrangian functions; Manipulator dynamics; Numerical simulation; Orbital robotics; Robot kinematics; Robotics and automation; Satellites; Space technology; dynamic efficient integration method; flexible multibody; space robots;
Conference_Titel :
Informatics in Control, Automation and Robotics, 2009. CAR '09. International Asia Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-3331-5
