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Background The paper presents modeling of space manipulators whose structures are composed of rigid and flexible components. Due to their applications for variety of servicing missions, their dynamics and attitude are described using quaternions. Parameterization by the quaternions does not share Euler angles’ drawbacks and is computationally more efficient. Another challenge is the motion equations derivation method. Methods Due to poor scalability of Lagrange method equations, authors decided to model the space robot as a set of links subjected to position constraints.The elastic effects are modeled with the assumed mode method successfully applied to a variety of ground manipulators with flexible links. The constrained dynamics approach and the assumed mode method are combined to derive a comprehensive space manipulator dynamics. Its dynamic model is readily scalable in terms of number of both rigid and flexible robotic arms and links.  Conclusions The paper contributes to the development of effective quaternion-based constrained dynamics for space structures equipped with flexible links. The theory is illustrated by simulation studies of an example of a space manipulator attitude dynamics.

Quaternion-Based Constrained Dynamics Modeling of a Space Manipulator with Flexible Arms for Servicing Tasks