Recursive Dynamics Simulator (ReDySim)
01 Jan 2013-pp 187-204
TL;DR: A Recursive Dynamics Simulator (ReDySim) is developed in MatLab (2009) platform for analyses of fixed- and floating-base tree-type, and closed-loop systems and its usage is shown in this chapter.
Abstract: Based on the recursive algorithms presented in Chaps. 6 and 7, a Recursive Dynamics Simulator (ReDySim) is developed in MatLab (2009) platform for analyses of fixed- and floating-base tree-type, and closed-loop systems. Its usage is shown in this chapter.
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01 Jan 2018
TL;DR: The paper illustrates a trajectory generation method for a free-floating robot to capture a non-cooperative, tumbling target through an orthogonal collocation method that transforms the OCP into a nonlinear programming problem (NLP).
Abstract: The paper illustrates a trajectory generation method for a free-floating robot to capture a non-cooperative, tumbling target. The goal of the method is to generate an optimal trajectory for the manipulator to approach a non-cooperative target while minimizing the overall angular momentum of the entire system (chaser plus target). The method is formulated as an optimal control problem (OCP) and solved via an orthogonal collocation method that transforms the OCP into a nonlinear programming problem (NLP). This way the dynamical coupling between the base and manipulator is actively used to reach the optimum capturing conditions. No synchronization of the relative motion between the target and chaser is necessary prior to the maneuver. Therefore, there is an inherent propellant advantage of the method when compared with the standard ones. The method is applied in 2D simulation using representative targets, such as a Vega 3rd stage rocket body, in a flat spin. The results of simulations prove that the developed method could be a viable alternative or a complement to existing free-flying methods, within the mechanical limitations of the considered space manipulator. The study of the capture and stabilization phases was outside the scope of the present paper and represents future work that needs to be performed to analyze the operational applicability of the developed method.
9 citations
Cites methods from "Recursive Dynamics Simulator (ReDyS..."
...The kinematics and dynamics of the free-floating platform were developed using the Recursive Dynamics Simulator (ReDySim)[17, 18] and SPAcecraft Robotics Toolkit (SPART) [19] MATLAB libraries....
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References
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01 Jan 2018
TL;DR: The paper illustrates a trajectory generation method for a free-floating robot to capture a non-cooperative, tumbling target through an orthogonal collocation method that transforms the OCP into a nonlinear programming problem (NLP).
Abstract: The paper illustrates a trajectory generation method for a free-floating robot to capture a non-cooperative, tumbling target. The goal of the method is to generate an optimal trajectory for the manipulator to approach a non-cooperative target while minimizing the overall angular momentum of the entire system (chaser plus target). The method is formulated as an optimal control problem (OCP) and solved via an orthogonal collocation method that transforms the OCP into a nonlinear programming problem (NLP). This way the dynamical coupling between the base and manipulator is actively used to reach the optimum capturing conditions. No synchronization of the relative motion between the target and chaser is necessary prior to the maneuver. Therefore, there is an inherent propellant advantage of the method when compared with the standard ones. The method is applied in 2D simulation using representative targets, such as a Vega 3rd stage rocket body, in a flat spin. The results of simulations prove that the developed method could be a viable alternative or a complement to existing free-flying methods, within the mechanical limitations of the considered space manipulator. The study of the capture and stabilization phases was outside the scope of the present paper and represents future work that needs to be performed to analyze the operational applicability of the developed method.
9 citations