Dynamic Modeling and Simulation of a Space-based Manipulator System

Abstract

In this paper, a complete dynamic modeling process for a space-based n-DOF manipulator system is first presented, which is leading to a new method for modeling the general motion equation. To find the main cause of the coupling phenomenon between the floating base and the manipulator, the general coupling force between them is deduced. At last, a simulation test is conducted, results of which demonstrate that there do exist the coupling effect among floating base systems.