Abstract Scientific literature on novel methods for modeling the dynamics of multibody systems, do not typically provide information on the computational and temporal efficiency aspects of the methods proposed. Computational and temporal efficiency play a crucial role in determining whether a particular method can be used in real-time applications. This is especially the case for dynamics modeling methods applicable to space manipulator systems. This paper presents a comparative analysis on three dynamics modeling methods applicable to space manipulator systems, namely, standard approach (SA), dual quaternion approach (DQ) and Recursive Newton-Euler method using dual quaternion algebra (RNE-DQ), based on numerical simulation results.
Santosh Tantravahi (Wed,) studied this question.