Modeling of Spacecraft-Mounted Robot Dynamics and Control Using Dual Quaternions

Abstract

Dual quaternions (DQ) provide a compact representation of position and attitude. They have been extensively used in fixed-base robotics due to their numerous computational advantages. This paper aims to develop the dynamic equations of motion of a robotic arm on a free-flying spacecraft using a Newton-Euler approach in a DQ modeling framework. A pose-stabilization maneuver for the end-effector is found via Differential Dynamic Programming (DDP). The results of this simulation are provided.