Object Oriented Modeling of a Space Robotic Manipulator

Abstract

In this paper a detailed mechatronic model of SPIDER, the Italian space manipulator arm, is presented. The model is based on the open source modeling language Modelica. Thanks to the distinctive features of this language, like object orientation, physical and acausal modeling, symbolic handling of equations and constraints, the overall model of SPIDER is obtained by assembling few models of its components, all written in a fairly natural way. Remarkably simple is the modeling of contact operations against a perfectly rigid environment.