Simulation of post-grasping operations in closed-chain configuration using Kane's method

This work focuses on techniques that enable the modeling of a multibody spacecraft in a closed-chain configuration. This scenario pertains to a space manipulator system equipped with two or more robotic arms that have grasped a target object. The dynamic equations of the multibody system, consisting of the chaser and target satellites, are derived using a Kane's formulation for nonholonomic constrained systems. This formulation eliminates the need for including Lagrange's multipliers in the set of equations. Numerical simulations of a post-grasping maneuver between a space manipulator system and a target satellite are conducted to validate the proposed formulation.