Abstract: Simulations are often used to evaluate space manipulator tasks that involve contact with the environment, due to the difficulty of performing realistic earth-based experiments. An important aspect ...

Abstract: Modeling of contact with the environment is an essential capability for the simulation of space robotics system, which includes tasks such as berthing and docking. The effect of interbody contact ...

Abstract: To accurately simulate the motion of slack marine cables, it is necessary to capture the effects of the cable’s bending and torsional stiffness. In this paper, a computationally efficient and ...

Abstract: Tethered marine systems experience large tensile loads in their tether when operating in rough seas. Heave compensation systems can be used to reduce these loads and increase the safe operating ...

Abstract: This paper focuses on a method to solve the static configuration for a lumped mass cable system. The method demonstrated here is intended to be used prior to performing a dynamics simulation of the cable. Conventional ...