Recursive algorithm of dynamic equations calculation for space manipulator.

Space technics and technology


Yaskevich N. A.

Bauman Moscow State Technical University, MSTU, 5, bldg. 1, 2-nd Baumanskaya str., Moscow, 105005, Russia


A new recursive algorithm for calculation of closed form dynamic equations for simple kinematical chain is configured. It has computational efficiency О(n2) and is used for motion simulation for space manipulators with rotation joints. This algorithm may be modified for taking into account links flexibility and for realization of parallel calculations.


space manipulator; dynamic equations; recursive algorithm; computational efficiency.

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