Simulating the Effects of a Non-Uniform Gravitational Field on a Space Robot
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| Title | Simulating the Effects of a Non-Uniform Gravitational Field on a Space Robot |
| Authors | |
| Abstract | This paper investigates the influence that a nonuniform gravitational field has on the dynamics of a space robot. This is accomplished by obtaining the differential equations of motion of the space robot using three gravitational field potential approximations: a uniform field approximation, a zeroth-order Taylor series expansion of the field about the center of mass of each body, and a second-order binomial series expansion of the gravitational field. The three models are then simulated in a free-fall from identical initial conditions. The results indicate that a zeroth-order series expansion of the gravitational field about the center of mass of each body provides a sufficiently high degree of accuracy without resulting in a significant computational burden. |
| Publisher | ACADEMY PUBLISHER |
| Date | 2009-12-01 |
| Source | Journal of Computers Vol 4, No 12 (2009): Special Issue: Selected Best Papers of 2008 International Workshop on Modellin |
| Rights | Copyright © ACADEMY PUBLISHER - All Rights Reserved.To request permission, please check out URL: http://www.academypublisher.com/copyrightpermission.html. |