Efficient Recursive Dynamics and Real Time Simulation of Flexible Space Robots System

As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics. The dynamics model of the space flexible robots is very complex, and the differential equation derived from dynamics was solved difficultly and slowly. In this paper the efficient recursive O(n) dynamics algorithm of space flexible robots systems with rigid base and flexible manipulators was discussed, and the fast efficient integration method was used to solve this dynamics equation for real time simulation. Simulations results show that the dynamic modeling and fast efficient numerical integration techniques of flexible space robot proposed in this paper are very useful. Keyword: space robots;efficient dynamic; recursive; real time simulation