On the kinematics of multiple manipulator space free‐flyers and their computation

center of mass as the representative point for the translational motion of the system. The consequences of using each of the two approaches in deriving dynamics equations and in control design of SFFRs are discussed. It is revealed that the direct path method is a more appropriate approach for modelling multiple arm systems, in the presence of ! . external forces! torques i.e., free-flying mode . A 14 degree-of-freedom space free- flying system is considered as a benchmark system and a quantitative compar- ison between the two approaches is presented. The results show that the direct path method requires significantly less computations for position and velocity analy- ses. " 1998 John Wiley & Sons, Inc.

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