Dynamics Modelling and Simulation Environment for Rapid Manipulator Design

For rapid development of space robotics mission scenarios, DLR provides an efficient assembly and simulation environment. It combines a CAD based robotic subsystems data base with kinematic and kinetic software tools for modeling and simulating the behaviour of the entire robotic system. In space environment, redundant manipulators are prefered. This paper addresses two implemented approaches for solving inverse kinematics and kinetics of such kind of systems.