EFFICIENT ALGORITHMS FOR THE DYNAMIC SIMULATION OF STRUCTURALLY FLEXIBLE MANIPULATORS

Canada's Space Station Program has led to the need for highly efficient computer codes for the simulation of the dynamics of space manipulators with structurally flexible members. A discussion of dynamical principles and symbology are limited in this paper so that we may, in the brief space available, focus attention on how actually to solve the complex system of motion equations. Two types of algorithm are discussed: global algorithms of O(N3), in which a single set of motion equations is written for the manipulator as a whole; and recursive algorithms of O(N), in which motion equations are solved on a body-by-body basis. The algorithms described are compared numerically for computational efficiency. The recursive algorithms show superior speed for structurally flexible manipulators, especially in space applications where the initial body (orbiter) is unconstrained.