Dual Quaternion Framework for Modeling of Spacecraft-Mounted Multibody Robotic Systems.

Area of Science:

• Robotics
• Spacecraft Dynamics
• Multibody Systems

Background:

• Modeling complex robotic systems mounted on spacecraft presents challenges in unifying rotational and translational dynamics.
• Previous methods often require joint-type specific terms, complicating the analysis and decoupling motion components.

Purpose of the Study:

• To develop a unified framework for modeling the kinematics and dynamics of rigid spacecraft-mounted multibody robotic systems.
• To leverage dual quaternion algebra for a compact and integrated representation of motion.

Main Methods:

• The framework employs dual quaternion algebra for a unified representation of rotation and translation.
• A Newton-Euler formulation is used to establish a system of equations.
• The model incorporates five different joint types through adaptable mapping matrices.

Main Results:

• The proposed framework successfully models the kinematics and dynamics of multibody robotic systems on spacecraft.
• Dual quaternion algebra provides a compact representation, unifying rotational and translational aspects.
• The method simplifies the inclusion of various joint types without requiring joint-specific terms.

Conclusions:

• The dual quaternion-based framework offers a unified and efficient approach to modeling spacecraft robotic systems.
• This method overcomes limitations of previous approaches by integrating rotational and translational dynamics seamlessly.
• The framework's adaptability to different joint types enhances its applicability in space robotics research.