Discriminating aspects in simulation software for space robotic systems

Abstract In this paper, four simulation software are examined and evaluated with respect to the mathematical formalism used to derive the dynamic equations of motion and their responces to two real cases study. The two cases study regard the modeling and simulation of two actual space robotic systems: M.F.B. (Maquette Fonctionelle de Bras) arm and SPIDER space system. A comparison among the responces of the four software to the same input models is provided.