A generalized formulation for simulation of space robot constrained motion

In the past decade, research advances in robot dynamic simulation have included algorithms for space robots operating as open chain mechanisms and earth-bound robot systems operating under constrained motion conditions. Few researchers, however, have investigated a combination of these conditions, i.e. a space robot performing closed chain operations. This paper presents a generalized formulation of the dynamic equations for a space-based robot in both open chain and closed chain configurations. This formulation represents the consolidation of several specialized formulations into a single convenient form