Numerical computation of reconfigurable multibody dynamics

Author

Takahashi, T. ; Matunaga, S.

Author_Institution

Mech. & Aerosp. Eng., Tokyo Univ., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1828

Abstract

There has been much research on capturing and berthing damaged satellites in space, and such systems are categorized as reconfigurable multibody systems whose constraint conditions are time varying. On the other hand the theory for reconfigurable multibody dynamics is not well developed. There are many technical issues such as the dynamics algorithm with topological changes, contact dynamics, collision detection and computation of Jacobian matrices concerned with constraint conditions, and so on. We propose the algorithms to solve and implement some of these issues

Keywords

Jacobian matrices; aerospace robotics; artificial satellites; collision avoidance; robot dynamics; Jacobian matrices; collision detection; contact dynamics; damaged satellite capture; numerical computation; reconfigurable multibody dynamics; time varying constraint conditions; topological changes; Aerodynamics; Data processing; Dynamic programming; Fasteners; Heuristic algorithms; Orbital robotics; Satellites; Space stations; Space technology; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895237

Filename

895237