On the simulation of space based manipulators with contact

An efficient method of simulating the motion of space based manipulators is presented. Since the manipulators will come into contact with different objects in their environment while carrying out different tasks, an important part of the simulation is the modeling of those contacts. An inverse dynamics controller is used to control a two armed manipulator whose task is to grasp an object floating in space. Simulation results are presented and an evaluation is made of the performance of the controller.