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Some Features of the Computer-aided Derivation of the Motion Equations of a Package of Mechanical Systems and Their Decomposition

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Abstract

Computer-aided derivation of the motion equations of a package of mechanical systems was considered. Its mathematical support was based on the F.M. Kulakov method. The freeflying space robotic module for servicing the satellite stations was discussed as an example of the package of mechanical systems. The right side of the resulting mathematical model generated by the symbolic computer system such as Maple was represented as easy-to-use relations for decomposition of the object motion equations. These relations underlie decomposition of the mathematical model of motion of the space robotic module.

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Authors and Affiliations

  1. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

    V. M. Glumov, S. D. Zemlyakov, V. Yu. Rutkovskii & V. M. Sukhanov

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  1. V. M. Glumov
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  2. S. D. Zemlyakov
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  3. V. Yu. Rutkovskii
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  4. V. M. Sukhanov
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__________

Translated from Avtomatika i Telemekhanika, No. 5, 2005, pp. 83–96.

Original Russian Text Copyright © 2005 by Glumov, Zemlyakov, Rutkovskii, Sukhanov.

This work was supported by the Russian Foundation for Basic Research, project no. 03-01-00062, and the Program for Fundamental Research no. 16 of the Department of Power Engineering, Machine Building, Mechanics, and Control Processes of the Russian Academy of Sciences.

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Glumov, V.M., Zemlyakov, S.D., Rutkovskii, V.Y. et al. Some Features of the Computer-aided Derivation of the Motion Equations of a Package of Mechanical Systems and Their Decomposition. Autom Remote Control 66, 752–764 (2005). https://doi.org/10.1007/s10513-005-0119-9

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  • DOI: https://doi.org/10.1007/s10513-005-0119-9

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