Kinematics And Dynamics Of Flexible Space Robot Arms

Abstract

Ab~tr~~t- The motion of free-floating flexible space robot manipulators is systematically studied. Both kinematic and dynamic models are presented. By analyzing the mapping relations among the velocity space of the joint, the flexible link, the end-effector and the satellite, the kinematic equations are formulated using 4 x 4 homogeneous transformation matrices. Based on the results, the Hamilton’s Principle and calculus of variations are used for deriving dynamic equations and a complete set of their boundary conditions.