Proceedings ArticleDOI
A set of r dynamical attitude equations for an arbitrary n-body satellite having r rotational degrees of freedom
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In this paper, a technique was developed for explicitly eliminating the constraint torques from a canonical system of n vector equations for the attitude dynamics of a satellite consisting of n arbitrarily interconnected rigid bodies.Abstract:
A technique is developed for explicitly eliminating the constraint torques from a canonical system of n vector equations for the attitude dynamics of a satellite consisting of n arbitrarily interconnected rigid bodies. This elimination reduces the number of scalar second order differential equations from 3n to r, the number of degrees of rotational freedom of the satellite. At the same time, the number of dependent variables in these equations is reduced from the full set of 3n angular velocity components to just 3 such components for one body, together with r — 3 relative angular rates. This elimination and reduction saves computer time when the equations are integrated, and also avoids a possible build-up of numerical errors violating the constraints. The final equations resemble those obtained from a Lagrangian approach, but are simpler to derive and to modify to account for additional effects.read more
Citations
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Attitude dynamics simulation subroutines for systems of hinge-connected rigid bodies
G. E. Fleischer,Peter W. Likins +1 more
TL;DR: In this article, a set of computer subroutines are designed to provide the solution to minimum-dimension sets of discrete-coordinate equations of motion for systems consisting of an arbitrary number of hinge-connected rigid bodies assembled in a tree topology.
Journal ArticleDOI
The Development of Equations of Motion of Single-Arm Robots
TL;DR: Procedures for efficiently obtaining the governing dynamical equations of motion for single-arm robotic systems are presented and the inverse problem of determining the joint forces and moments when the system kinematics is known is addressed.
Large-deformation modal coordinates for nonrigid vehicle dynamics
P. W. Likins,G. E. Fleischer +1 more
TL;DR: In this paper, a minimum-dimension set of discrete-coordinate and hybrid-coordinate equations of motion of a system consisting of an arbitrary number of hinge-connected rigid bodies assembled in tree topology is presented.
Dissertation
On the dynamics of spacecraft with flexible, deployable and slewing appendages
TL;DR: A relatively general dynamical formulation applicable to a large class of systems, characterized by a rigid central body with flexible, deployable and slewing appendages, is presented and the results obtained are of fundamental character and have long range value to spacecraft design engineers.
Kinematics and dynamics of multibody system : a systematic approach to systems with arbitrary connections
TL;DR: The theory is used in chapter 8 to formulate the kinematic and dynamic simulation problem for multibody systems, and the tree-structure concept allows us to set up the relevant equations systematically.
References
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Attitude dynamics simulation subroutines for systems of hinge-connected rigid bodies
G. E. Fleischer,Peter W. Likins +1 more
TL;DR: In this article, a set of computer subroutines are designed to provide the solution to minimum-dimension sets of discrete-coordinate equations of motion for systems consisting of an arbitrary number of hinge-connected rigid bodies assembled in a tree topology.
Journal ArticleDOI
The Development of Equations of Motion of Single-Arm Robots
TL;DR: Procedures for efficiently obtaining the governing dynamical equations of motion for single-arm robotic systems are presented and the inverse problem of determining the joint forces and moments when the system kinematics is known is addressed.
Large-deformation modal coordinates for nonrigid vehicle dynamics
P. W. Likins,G. E. Fleischer +1 more
TL;DR: In this paper, a minimum-dimension set of discrete-coordinate and hybrid-coordinate equations of motion of a system consisting of an arbitrary number of hinge-connected rigid bodies assembled in tree topology is presented.
Dissertation
On the dynamics of spacecraft with flexible, deployable and slewing appendages
TL;DR: A relatively general dynamical formulation applicable to a large class of systems, characterized by a rigid central body with flexible, deployable and slewing appendages, is presented and the results obtained are of fundamental character and have long range value to spacecraft design engineers.
Kinematics and dynamics of multibody system : a systematic approach to systems with arbitrary connections
TL;DR: The theory is used in chapter 8 to formulate the kinematic and dynamic simulation problem for multibody systems, and the tree-structure concept allows us to set up the relevant equations systematically.