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| Natura: | Preprint |
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2025
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| Accesso online: | https://arxiv.org/abs/2510.15199 |
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| _version_ | 1866915559286767616 |
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| author | Moghaddam, Borna Monazzah Chhabra, Robin |
| author_facet | Moghaddam, Borna Monazzah Chhabra, Robin |
| contents | This article presents an extension of the Lagrange-Poincare Equations (LPE) to model the dynamics of spacecraft-manipulator systems operating within a non-inertial orbital reference frame. Building upon prior formulations of LPE for vehicle-manipulator systems, the proposed framework, termed the Lagrange-Poincare-Kepler Equations (LPKE), incorporates the coupling between spacecraft attitude dynamics, orbital motion, and manipulator kinematics. The formalism combines the Euler-Poincare equations for the base spacecraft, Keplerian orbital dynamics for the reference frame, and reduced Euler-Lagrange equations for the manipulator's shape space, using an exponential joint parametrization. Leveraging the Lagrange-d'Alembert principle on principal bundles, we derive novel closed-form structural matrices that explicitly capture the effects of orbital disturbances and their dynamic coupling with the manipulator system. The LPKE framework also systematically includes externally applied, symmetry-breaking wrenches, allowing for immediate integration into hardware-in-the-loop simulations and model-based control architectures for autonomous robotic operations in the orbital environment. To illustrate the effectiveness of the proposed model and its numerical superiority, we present a simulation study analyzing orbital effects on a 7-degree-of-freedom manipulator mounted on a spacecraft. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_15199 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Lagrange-Poincaré-Kepler Equations of Disturbed Space-Manipulator Systems in Orbit Moghaddam, Borna Monazzah Chhabra, Robin Robotics This article presents an extension of the Lagrange-Poincare Equations (LPE) to model the dynamics of spacecraft-manipulator systems operating within a non-inertial orbital reference frame. Building upon prior formulations of LPE for vehicle-manipulator systems, the proposed framework, termed the Lagrange-Poincare-Kepler Equations (LPKE), incorporates the coupling between spacecraft attitude dynamics, orbital motion, and manipulator kinematics. The formalism combines the Euler-Poincare equations for the base spacecraft, Keplerian orbital dynamics for the reference frame, and reduced Euler-Lagrange equations for the manipulator's shape space, using an exponential joint parametrization. Leveraging the Lagrange-d'Alembert principle on principal bundles, we derive novel closed-form structural matrices that explicitly capture the effects of orbital disturbances and their dynamic coupling with the manipulator system. The LPKE framework also systematically includes externally applied, symmetry-breaking wrenches, allowing for immediate integration into hardware-in-the-loop simulations and model-based control architectures for autonomous robotic operations in the orbital environment. To illustrate the effectiveness of the proposed model and its numerical superiority, we present a simulation study analyzing orbital effects on a 7-degree-of-freedom manipulator mounted on a spacecraft. |
| title | Lagrange-Poincaré-Kepler Equations of Disturbed Space-Manipulator Systems in Orbit |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.15199 |