MOTION TRAJECTORY OF SPACE ROBOTS WITH NONHOLONOMIC CONSTRAINTS

This paper introduces a procedure for a dynamic analysis to study the motion trajectory of space robots using Kane's equations and Huston's method. The space robot is considered as a multibody system consisting of manipulators and the host spacecraft. Nonholonomic constraints on the system are handled by using Lagrange multipliers and orthogonal co mplement matrices while the redundancy is managed by using Hamilton's law. Simulation results show that this procedure can efficiently be us ed to solve space robot dynamics problems with redundant and nonholono mic constraints. (C) 1997 Elsevier Science Ltd.