Abstract: An efficient algorithm for the inverse dynamics of free-flying space robots, consisting of a serial manipulator mounted on a free-base, e.g., a spacecraft, is presented. The kinematic and dynamic ...

Abstract: The dynamics equations governing the motion of mechanical systems composed of rigid bodies coupled by holonomic and nonholonomic constraints are derived. The underlying method is based on a ...

Abstract: In order to compute the constraint moments and forces, together referred here as wrenches, in closed-loop mechanical systems, it is necessary to formulate a dynamics problem in a suitable manner ...