RT Journal Article ID 26ca16e51f8ce082 A1 Zavrazhina, Tatyana V. A1 Zavrazhina, Natalya M. T1 Influence of Elastic and Dissipative Properties of Hinge Joints on Dynamics of Space Manipulator JF Journal of Automation and Information Sciences JO JAI(S) YR 2001 FD 2001-10-01 VO 33 IS 10 OP 11 AB Mathematical model of dynamics of a multilink space robot manipulator, considered as a system of many absolutely rigid bodies, is constructed. Elastic compliance and friction in connecting hinges are taken into account. The suggested technique of derivation of the system equations of motion is based on simultaneous application of formalism of Euler-Lagrange and of Lagrange 2nd kind equations. Problems of dynamic and kinematic control of spatial motions of the system are formulated. A numerical example of study of dynamics of a two-link robot is considered. PB Begell House LK https://www.dl.begellhouse.com/journals/2b6239406278e43e,38d204ed5e9bacb8,26ca16e51f8ce082.html