Dynamic Modeling of Robots with Kinematic Loops

Abstract: Closed kinematic loops occur in many different robotic systems. Simply grasping an object with two or more arms, generates a closed kinematic loop. Recently, ESA commissioned a feasibility study for the deorbiting of Europe’s largest earth observing satellite – Envisat. It is expected that multiple arms are needed in order to grasp this satellite, which would generate a closed kinematic loop. The German Aerospace Center DLR would like to contribute to this feasibility study and simulate the deorbiting of Envisat. The SpaceDynamics Library, a simulation environment of the DLR, is however incapable to simulate robots with closed kinematic loops. The thesis discusses the dynamic modeling of robots with closed kinematic loops and shows the implementation and validation of an algorithm, in order to enable the dynamic modeling of closed loops with the SpaceDynamics Library.