Simulation of post-grasping operations in closed-chain configuration using Kane’s method

Simulation of post-grasping operations in closed-chain configuration using Kane’s method

David Paolo Madonna

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Abstract. This work focuses on techniques that enable the modeling of a multibody spacecraft in a closed-chain configuration. This scenario pertains to a space manipulator system equipped with two or more robotic arms that have grasped a target object. The dynamic equations of the multibody system, consisting of the chaser and target satellites, are derived using a Kane’s formulation for nonholonomic constrained systems. This formulation eliminates the need for including Lagrange’s multipliers in the set of equations. Numerical simulations of a post-grasping maneuver between a space manipulator system and a target satellite are conducted to validate the proposed formulation.

Post-Grasping Operations, Multibody Closed-Chain Configuration, Space Manipulator System, Kane’s Method

Published online 6/1/2024, 6 pages
Copyright © 2024 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA

Citation: David Paolo Madonna, Simulation of post-grasping operations in closed-chain configuration using Kane’s method, Materials Research Proceedings, Vol. 42, pp 66-71, 2024


The article was published as article 15 of the book Aerospace Science and Engineering

Content from this work may be used under the terms of the Creative Commons Attribution 3.0 license. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.

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