Abstract:To verify and evaluate the performance of a space robot controller, kinematics and dynamics of the system have to be formed beforehand for computer simulation. The paper is devoted to develop a new kinematic notation for space robots and to come up with an open source of Matlab subroutines for the propose of obtaining the proper dynamics equations of space robots in symbolic forms automatically. For the new kinematic notation, we will present the general form and two special cases. It is then demonstrated thro… Show more
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