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31 May 2006 Contact dynamics simulations for robotic servicing of the Hubble Space Telescope
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This paper addresses contact dynamics simulations for a Hubble Robotic Servicing mission. First, the modeling of the robotic system is introduced. The simulation models of the robotic system include: flexible body dynamics, control system models and geometric models of the contacting bodies. These models are incorporated into MDA's simulation facility, the multibody dynamics simulator "Space Station Portable Operations Training Simulator (SPOTS)". Three contact dynamics simulation examples of the robotic servicing operations are presented: (1) capture of the Hubble Space Telescope, (2) berthing the Hubble Space Telescope to the Hubble Robotic Vehicle and (3) inserting the Wide Field Camera into the Hubble Space Telescope.
© (2006) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jiegao Wang, Raja Mukherji, Mariano Ficocelli, Andrew Ogilvie, and Craig Rice "Contact dynamics simulations for robotic servicing of the Hubble Space Telescope", Proc. SPIE 6221, Modeling, Simulation, and Verification of Space-based Systems III, 622103 (31 May 2006);


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